CN111495830A - Photovoltaic cleaning robot - Google Patents
Photovoltaic cleaning robot Download PDFInfo
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- CN111495830A CN111495830A CN202010450666.2A CN202010450666A CN111495830A CN 111495830 A CN111495830 A CN 111495830A CN 202010450666 A CN202010450666 A CN 202010450666A CN 111495830 A CN111495830 A CN 111495830A
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- 238000004140 cleaning Methods 0.000 title claims abstract description 228
- 230000007246 mechanism Effects 0.000 claims abstract description 26
- 238000010408 sweeping Methods 0.000 claims description 22
- 238000010276 construction Methods 0.000 abstract description 8
- 230000009471 action Effects 0.000 description 4
- 230000005540 biological transmission Effects 0.000 description 3
- 239000003638 chemical reducing agent Substances 0.000 description 3
- 238000004891 communication Methods 0.000 description 3
- 238000000034 method Methods 0.000 description 3
- 238000010248 power generation Methods 0.000 description 3
- 239000000428 dust Substances 0.000 description 2
- 210000003608 fece Anatomy 0.000 description 2
- 239000000463 material Substances 0.000 description 2
- 230000032258 transport Effects 0.000 description 2
- WHXSMMKQMYFTQS-UHFFFAOYSA-N Lithium Chemical compound [Li] WHXSMMKQMYFTQS-UHFFFAOYSA-N 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 239000004973 liquid crystal related substance Substances 0.000 description 1
- 229910052744 lithium Inorganic materials 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 230000000087 stabilizing effect Effects 0.000 description 1
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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
- B08B1/30—Cleaning by methods involving the use of tools by movement of cleaning members over a surface
- B08B1/32—Cleaning by methods involving the use of tools by movement of cleaning members over a surface using rotary cleaning members
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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
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- 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
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
- B25J11/008—Manipulators for service tasks
- B25J11/0085—Cleaning
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- 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
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- 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
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Cleaning In General (AREA)
Abstract
The application relates to a photovoltaic cleaning robot, which comprises more than two cleaning units, wherein the more than two cleaning units are sequentially and rotatably connected; and a folding mechanism is arranged between every two adjacent cleaning units and is used for folding or unfolding the cleaning units. The transportation of the whole machine is realized, the field assembly is avoided, the transportation cost is reduced, and the construction time and the construction cost are reduced.
Description
Technical Field
The utility model relates to the field of robots, especially, relate to a photovoltaic cleaning machines people.
Background
According to global market research, the photovoltaic power generation industry is increased greatly, and the most influenced power generation in the whole photovoltaic power generation industry are dust, sunlight and bird droppings. Wherein, the natural environment in sunshine market can not change, but the robot is adopted to clean and operate and maintain dust and bird droppings at present.
However, various robots in the market are assembled and debugged on site, so that parts are all transported in transportation, and transportation is very inconvenient.
Disclosure of Invention
In view of this, the present disclosure provides a photovoltaic cleaning robot, which realizes complete machine transportation, avoids on-site assembly, reduces transportation cost, and reduces construction time and construction cost.
According to one aspect of the present disclosure, a photovoltaic cleaning robot is provided, which includes two or more cleaning units, wherein the two or more cleaning units are sequentially and rotatably connected;
and a folding mechanism is arranged between every two adjacent cleaning units and is used for folding or unfolding the cleaning units.
In one possible implementation, the folding mechanism includes a folding shaft, a fixed frame, a rotating gear and a first driving device;
the fixed frame is fixedly arranged on a first cleaning unit or a second cleaning unit, wherein the first cleaning unit and the second cleaning unit are two adjacent cleaning units;
the folding shaft is rotatably arranged on the fixing frame, and the axis of the folding shaft is parallel to the rotating axis of the first cleaning unit;
a mechanical arm is fixed on the end face of the folding shaft and fixedly connected with the second cleaning unit;
the rotary gear is installed on the shaft body of the folding shaft, the rotary gear and the folding shaft are coaxially arranged, the first driving device is fixedly installed on the first cleaning unit, a driving gear is arranged at the output shaft end of the first driving device, and the driving gear of the first driving device is meshed with the rotary gear.
In one possible implementation, the mechanical arms comprise a left mechanical arm and a right mechanical arm which are oppositely arranged;
the left mechanical arm is positioned at one end of the folding shaft and is connected between the folding shaft and the second cleaning unit;
the right mechanical arm is positioned at the other end of the folding shaft and is connected between the folding shaft and the second cleaning unit.
In a possible implementation manner, the end surface of the folding shaft is in a polygonal shape, and the inner wall of the rotating gear is matched with the folding shaft;
the fixing frame is provided with more than two fixing frames which are arranged along the axial lead of the folding shaft.
In one possible implementation, the end face of the folding shaft is rectangular.
In a possible implementation manner, two fixing frames are provided, and the two fixing frames are respectively positioned at two sides of the rotating gear; wherein the structures of more than two fixing frames are the same;
the fixed frame comprises a base and a supporting piece, and the base is fixedly arranged on the first cleaning unit;
the supporting piece is annular, the vertical setting of supporting piece is in the base do not with the one side that first cleaning unit is connected, folding axle runs through the hole setting of supporting piece, the arris of folding axle with the inner wall butt of supporting piece.
In a possible implementation manner, the folding mechanism further comprises an electric locking device, the electric locking device is fixedly installed on one side where the first cleaning unit and the second cleaning unit are connected, and the electric locking device is arranged adjacent to the edge position of the first cleaning unit;
and the lock rod of the electric locking device is used for locking the second cleaning unit when the first cleaning unit and the second cleaning unit are parallel.
In a possible implementation manner, a laser receiving device is arranged on a side wall of the first cleaning unit facing the second cleaning unit, and a laser emitting device is arranged on a side wall of the second cleaning unit facing the first cleaning unit;
the laser emitting device and the laser receiving device are correspondingly arranged, and the electric lock device is driven by a motor;
when the first cleaning unit is parallel to the second cleaning unit, the laser receiving device receives laser emitted by the laser emitting device, and the motor controls a lock rod in the electric locking device to stretch out and lock the second cleaning unit.
In one possible realization, each of the sweeping units is provided with a cleaning roller and a driving device,
the driving device is fixedly installed on the sweeping unit, the cleaning roller is fixedly installed on an output shaft of the driving device, and the cleaning roller is arranged along the direction from the upper side of the sweeping unit to the lower side of the sweeping unit in the reverse direction.
In a possible implementation manner, a bearing is arranged at one end of the cleaning roller connected with the driving device, an inner ring of the bearing is sleeved on the outer portion of the cleaning roller, and an outer ring of the cleaning roller is fixed on the sweeping unit.
The photovoltaic cleaning robot of the embodiment of the application can fold the cleaning units more than two into one to clean the unit by folding and unfolding the folding mechanism to control each cleaning unit, and can be assembled and debugged well before transportation when the photovoltaic cleaning robot of the embodiment of the application is transported by randomly increasing the number of the cleaning units through the folding mechanism, thereby avoiding the assembly and debugging on site. Therefore, a large amount of time is saved, and construction cost on a project site is directly reduced by 80 percent at least through professional calculation. When this application embodiment photovoltaic cleaning machines people transports, owing to can fold into the size that a cleaned the unit with the unit that cleans more than two, occupation space when having reduced the transportation from this can adopt the complete machine transportation, and the transportation of non-part has reduced manpower and material resources when transporting, has reduced 50% at least on the cost of transportation.
Other features and aspects of the present disclosure will become apparent from the following detailed description of exemplary embodiments, which proceeds with reference to the accompanying drawings.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate exemplary embodiments, features, and aspects of the disclosure and, together with the description, serve to explain the principles of the disclosure.
Fig. 1 illustrates a main body structure view of a photovoltaic cleaning robot according to an embodiment of the present disclosure;
fig. 2 illustrates a main body structure diagram of a folding mechanism of a photovoltaic cleaning robot according to an embodiment of the present disclosure.
Detailed Description
Various exemplary embodiments, features and aspects of the present disclosure will be described in detail below with reference to the accompanying drawings. In the drawings, like reference numbers can indicate functionally identical or similar elements. While the various aspects of the embodiments are presented in drawings, the drawings are not necessarily drawn to scale unless specifically indicated.
It is to be understood, however, that the terms "central," "longitudinal," "lateral," "length," "width," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," "counterclockwise," "axial," "radial," "circumferential," and the like are used in an orientation or positional relationship indicated in the drawings for the convenience of description or simplicity of description, and do not indicate or imply that the referenced device or element must have a particular orientation, be constructed and operated in a particular orientation, and are therefore not to be considered limiting of the present invention.
Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of the present invention, "a plurality" means two or more unless specifically limited otherwise.
The word "exemplary" is used exclusively herein to mean "serving as an example, embodiment, or illustration. Any embodiment described herein as "exemplary" is not necessarily to be construed as preferred or advantageous over other embodiments.
Furthermore, in the following detailed description, numerous specific details are set forth in order to provide a better understanding of the present disclosure. It will be understood by those skilled in the art that the present disclosure may be practiced without some of these specific details. In some instances, methods, means, elements and circuits that are well known to those skilled in the art have not been described in detail so as not to obscure the present disclosure.
Fig. 1 illustrates a main body structure view of a photovoltaic cleaning robot according to an embodiment of the present disclosure. Fig. 2 illustrates a main body structure view of a folding mechanism 300 of a photovoltaic cleaning robot according to an embodiment of the present disclosure. As shown in fig. 1 or 2, the photovoltaic cleaning robot includes: the cleaning device comprises more than two cleaning units which are sequentially and rotatably connected, wherein a folding mechanism 300 is installed between every two adjacent cleaning units, and the folding mechanism 300 is used for folding or unfolding the cleaning units.
The photovoltaic cleaning robot of the embodiment of the application can fold more than two cleaning units into one cleaning unit by controlling the folding and unfolding of each cleaning unit through the folding mechanism 300, can be assembled and debugged before transportation when the photovoltaic cleaning robot of the embodiment of the application is transported by increasing the number of the cleaning units at will through the folding mechanism 300, and avoids assembling and debugging on site. Therefore, a large amount of time is saved, and construction cost on a project site is directly reduced by 80 percent at least through professional calculation. When this application embodiment photovoltaic cleaning machines people transports, owing to can fold into the size that a cleaned the unit with the unit that cleans more than two, occupation space when having reduced the transportation from this can adopt the complete machine transportation, and the transportation of non-part has reduced manpower and material resources when transporting, has reduced 50% at least on the cost of transportation.
In one possible implementation manner, the folding mechanism 300 includes a folding shaft 310, a fixing frame 320, a rotating gear 330, and a first driving device 340, and the fixing frame 320 is fixedly mounted on the first cleaning unit 100 or the second cleaning unit 200, wherein the first cleaning unit 100 and the second cleaning unit 200 are two adjacent cleaning units. The folding shaft 310 is rotatably mounted on the fixing frame 320, the axis of the folding shaft 310 is parallel to the rotation axis of the first cleaning unit 100, a mechanical arm 350 is fixed on the end surface of the folding shaft 310, and the mechanical arm 350 is fixedly connected with the second cleaning unit 200. The rotating gear 330 is mounted on the shaft body of the folding shaft 310, the rotating gear 330 is coaxially arranged with the folding shaft 310, the first driving device 340 is fixedly mounted on the first cleaning unit 100, the output shaft end of the first driving device 340 is provided with a driving gear, and the driving gear of the first driving device 340 is meshed with the rotating gear 330.
Here, it should be noted that the first cleaning unit 100 and the second cleaning unit 200 constitute a structure that can be opened and closed (i.e., the first cleaning unit 100 rotates around the second cleaning unit 200 with the axis of rotation as an axis, or the second cleaning unit 200 rotates around the first cleaning unit 100 with the axis of rotation as an axis). The first cleaning unit 100 and the second cleaning unit 200 may be connected by an intermediate member disposed along the rotation axis of the first cleaning unit 100 and the second cleaning unit 200, and the middle robot 350 has an arched plate shape, so that a placing space is formed between the middle connection plate and the first cleaning unit 100 and the second cleaning unit 200, and the fixing frame 320 may be placed in the placing space. In a possible implementation manner, a first fixing plate and a second fixing plate are arranged at two ends of the middle part, the first fixing plate is fixedly connected with the first cleaning unit 100, and the first fixing plate is rotatably connected with the middle part (a hinged manner may be adopted). As described above, the second fixing plate is fixedly connected to the second cleaning unit 200, and the second fixing plate is rotatably connected to the middle member (a hinged manner may be used).
Here, it should also be noted that the intermediate member may be provided in two with a distance provided therebetween, and the rotation gear 330 is installed between the two intermediate members.
Here, it should also be noted that the photovoltaic cleaning robot according to the embodiment of the present application is further provided with a main controller 110, a power module 140 (lithium battery), a power switch 120 and a display module 130, wherein the power switch 120 is connected in series with the power module 140, so that the power switch 120 can control the power module 140 to be turned on and off. The power module 140 supplies power to each of the first cleaning unit 100, the second cleaning unit 200, and the first driving device 340. The display module 130 is provided with a communication module communicating with the main controller 110, the display module 130 is provided with a start button, when the start button on the display module 130 is touched, the communication module in the display module 130 transmits an instruction signal to the main controller 110, and the main controller 110 sends a control instruction to the corresponding device after receiving the instruction signal (i.e., the main controller 110 is also provided with the communication module), so that the corresponding device can be driven to work. Here, it should also be noted that the display module 130 further includes a liquid crystal display, and the present application further includes a power interface (24V), whereby the power module is charged through the power interface.
Here, it should be noted that the first driving device 340 is a driving motor, and in one possible implementation, a speed reducer may be disposed between the first driving device 340 and the rotating gear 330 such that the driving gear of the first driving device 340 is engaged with an input end of the speed reducer and an output end of the speed reducer is engaged with the rotating gear 330.
Here, it should also be noted that the master is a conventional technical means for those skilled in the art, and the detailed description is omitted here.
The photovoltaic cleaning robot provided by the embodiment of the application is foldable through the arrangement of the folding mechanism 300. The holder 320 is fixed to the first cleaning unit 100, and the folding shaft 310 is rotatably mounted on the holder 320, thereby stabilizing the folding shaft 310 such that the folding shaft 310 can provide stable folding power transmission. When the photovoltaic cleaning robot in the embodiment of the present application is folded, the power switch 120 is turned on first, and then the start button on the display module 130 is clicked, so that the main controller 110 controls the first driving device 340 to operate, so that the driving gear on the output shaft of the first driving device 340 rotates, the driving gear drives the rotating gear 330 to rotate, and the rotating gear 330 drives the folding shaft 310 to rotate. Since the folding shaft 310 is provided with the mechanical arm 350, and the mechanical arm 350 is connected to the second cleaning unit 200, the folding shaft 310 transmits folding power to the second cleaning unit 200 through the mechanical arm 350 to rotate, so as to drive the second cleaning unit 200 to unfold. When the first cleaning unit 100 is parallel to the second cleaning unit 200, the first driving device 340 stops rotating. When the embodiment of the present application needs to be folded, the first driving device 340 rotates reversely (the first driving device 340 in the unfolded state rotates normally), so as to drive the transmission gear to rotate reversely, the rotating gear 330 drives the folding shaft 310 to rotate reversely, the folding shaft 310 transmits the folding power to the second cleaning unit 200 through the mechanical arm 350 to rotate, and thus the second cleaning unit 200 is driven to fold. From this, photovoltaic cleaning machines people can clean the folding and the expansion of unit 200 freedom with first cleaning unit 100 and second through folding mechanism 300 for this application can adopt whole transportation when the transportation, and the space volume who just occupies is small, has reduced the cost of transportation, and when the construction, does not need the on-the-spot equipment, has reduced the construction link, has practiced thrift a large amount of installation cycles, provides efficiency.
In one possible implementation, the robot arm 350 includes a left robot arm 351 and a right robot arm 352, the left robot arm 351 and the right robot arm 352 are oppositely disposed, the left robot arm 351 is fixedly mounted at one end of the folding shaft 310, and the left robot arm 351 is connected between the folding shaft 310 and the second cleaning unit 200. The right robot arm 352 is fixedly installed at the other end of the folding shaft 310, and the right robot arm 352 is connected between the folding shaft 310 and the second cleaning unit 200.
Further, in a possible implementation manner, the right robot arm 352 includes a fixing rod and a pushing plate, the fixing rod and the pushing plate are connected in an "L" shape, the fixing rod is in a polygonal shape, two ends of the folding shaft 310 are respectively provided with fixing holes matched with the fixing rod, the fixing rod is installed in any one of the fixing holes, the pushing plate is in a rectangular plate shape, the fixing plate is arranged on a side wall of the pushing plate, the surface of the pushing plate and the second cleaning unit 200 can be connected by bolts, and the structure of the left robot arm 351 is the same as that of the right robot arm 352.
In one possible implementation, the end surface of the folding shaft 310 is polygonal, and the inner wall of the rotation gear 330 is matched with the folding shaft 310. The fixing frame 320 is provided with more than two fixing frames 320, and the more than two fixing frames 320 are arranged along the axis line of the folding shaft 310.
Further, in one possible implementation, the end surface of the folding shaft 310 is in a shape of a "square". Therefore, the matching between the rotating gear 330 and the folding shaft 310 is more convenient, so that the rotating gear 330 drives the folding shaft 310 to rotate more conveniently.
Further, in a possible implementation manner, two fixing frames 320 are provided, and two fixing frames 320 are respectively adjacent to two end surfaces of the folding shaft 310, wherein the two or more fixing members have the same structure. The fixing part comprises a base (the base is in a plate shape) and a supporting part, the base is fixedly installed on the first cleaning unit 100, the supporting part is in a ring shape, the supporting part is vertically arranged on one side of the base, which is not connected with the first cleaning unit 100 (the vertical arrangement means that the outer wall of the supporting part is fixed with the base, the axial lead of the supporting part is parallel and level to the plate surface of the base), the folding shaft 310 penetrates through the inner hole of the supporting part, and the edge of the folding shaft 310 is abutted to the inner wall of the supporting part.
Furthermore, in a possible implementation manner, the base includes a first base body and a second base body, the side wall of the supporting member is provided with an opening, and the first base body and the second base body are respectively fixed on the end surfaces of the two openings of the supporting member, so that the first base body, the supporting member, and the second base body are arranged in an "Ω" shape. And, both the first seat and the second seat may be connected to the first cleaning unit 100 by bolts.
In one possible implementation, the folding mechanism 300 further includes an electric lock device 400, the electric lock device 400 is fixedly mounted on the first cleaning unit 100, and the electric lock device 400 is disposed adjacent to a junction of the first cleaning unit 100 and the second cleaning unit 200, the electric lock device 400, and the electric lock device 400 is disposed adjacent to an edge position of the first cleaning unit 100 (i.e., the electric lock device 400 is disposed between an end surface of the folding shaft 310 and a side wall of the first cleaning unit 100). The locking bar of the electric locking device 400 is used for locking the second cleaning unit 200 when the first cleaning unit 100 and the second cleaning unit 200 are parallel.
Here, it should be noted that the second cleaning unit 200 is provided with a locking hole at a position corresponding to the locking rod of the electric lock device 400, and the locking hole is matched with the locking rod of the electric lock device 400, so that the locking rod of the electric lock device 400 can extend into the locking hole to lock the second cleaning unit 200.
Furthermore, in a possible implementation manner, a laser receiving device is disposed on a side wall of the first cleaning unit 100 facing the second cleaning unit 200, and a laser emitting device is disposed on a side wall of the second cleaning unit 200 facing the first cleaning unit 100, wherein the laser emitting device and the laser receiving device are correspondingly disposed, and the electric locking device 400 drives the locking rod to extend and retract by means of a motor. When the first cleaning unit 100 and the second cleaning unit 200 are parallel, the laser receiving device receives the laser emitted by the laser emitting device, and the motor controls the lock rod in the electric lock device 400 to extend and lock the second cleaning unit 200.
Further, in a possible implementation manner, there are two electric locking devices 400, two electric locking mechanisms are respectively disposed at both ends of the folding shaft 310, and two pairs of laser emitting devices and laser receiving devices are disposed corresponding to the two electric locking devices 400.
Here, it should be noted that the motor may control the gear train in the electric locker 400 through the gear, thereby controlling the telescopic rod to be extended and retracted. And the internal configuration of the electric locking device 400 is well known to those skilled in the art, and will not be described herein. The laser receiving device may be a sensor, thereby forming a common technical means of a sensor to control the servo motor, which is a technique commonly used by those skilled in the art, and the process of controlling the servo motor by the laser receiving device is not described in detail.
In the embodiment of the present application, when the electric locking device 400 is provided to enable the first cleaning unit 100 and the second cleaning unit 200 to be in the unfolded state, the second cleaning unit 200 can be locked by the locking rod on the electric locking device 400, so that the unfolded structure is further stabilized.
In one possible embodiment, a cleaning roller and a drive device are provided on each sweeping unit, the drive device is fixedly mounted on the sweeping unit, the cleaning roller is fixedly mounted on an output shaft of the drive device, and the cleaning roller is arranged in the direction from the upper side of the sweeping unit to the lower side of the sweeping unit.
Furthermore, in a possible implementation manner, the end of the cleaning roller connected with the driving device is provided with a bearing, the inner ring of the bearing is sleeved on the outer part of the cleaning roller, and the outer ring of the cleaning roller is fixed on the sweeping unit.
Hereinafter, the first cleaning unit 100 and the second cleaning unit 200 are taken as an example, the first cleaning roller 500 and the first driving device are fixedly mounted on the first cleaning unit 100, and the second cleaning roller 600 and the second driving device are fixedly mounted on the second cleaning unit 200. The first cleaning roller 500 is rotatably connected to an output end of the first driving device, and the first cleaning roller 500 is disposed in a direction from the first sweeping unit 100 to the first sweeping unit 100. The second cleaning roller 600 is rotatably coupled to an output shaft of the second driving device, and the second cleaning roller 600 is disposed in a direction from the second sweeping unit 200 to the first sweeping unit 100.
Further, in a possible implementation manner, a first bearing is disposed at an end of the first cleaning roller 500 not connected to the first driving device, an inner ring of the first bearing is sleeved on an outer wall of the first cleaning roller 500, and an outer ring of the first bearing is fixed on the first cleaning unit 100. One end of the second cleaning roller 600, which is not connected with the second driving device, is provided with a second bearing, the inner ring of the second bearing is sleeved on the outer wall of the second cleaning roller 600, and the outer ring of the second bearing is fixed on the second cleaning unit 200. The axial line of the first cleaning roller 500 and the axial line of the second cleaning roller 600 are both perpendicular to the axial line of the folding shaft 310.
Here, it should be noted that the outer side of the first cleaning roller 500 and the outer side of the second cleaning roller 600 are provided with brushes, and the first driving device and the second driving device are motors. One side of the first cleaning roller 500 may be coupled to an output shaft of a first driving device, so that the first driving device drives the first cleaning roller 500 to rotate. The second driving device and the second cleaning roller 600 are arranged in the same way as the first cleaning roller 500 and the first driving device, and are not described in detail here. And here it should also be noted that the axis of the output shaft of the first drive means 340 is arranged coincident with the axis of the first bearing and the axis of the output shaft of the second drive means is arranged coincident with the axis of the second bearing. Therefore, the first cleaning roller 500 and the second cleaning roller 600 are horizontally arranged, and the plate surface of the photovoltaic plate can be better cleaned.
Here, it may also be noted that, in another possible implementation, the outer race of the first bearing may be fixed on a first mounting seat, and the first mounting seat may be bolted to the first cleaning unit 100. The outer ring of the second bearing may be fixed to a second mounting seat, the second mounting seat may be connected to the second cleaning unit 200 by bolts, and the second mounting seat has the same structure as the first mounting seat.
In a possible implementation manner, a traveling mechanism is provided on each cleaning unit, taking the first cleaning unit 100 and the second cleaning unit 200 as an example: the first cleaning unit 100 is provided with a first traveling mechanism, and the second cleaning unit 200 is provided with a second cleaning mechanism. The first cleaning unit 100 comprises an upper walking motor, an upper driving wheel and an upper driven wheel, wherein the upper driving wheel and the upper driven wheel are both arranged on one side of the first cleaning unit 100 far away from the folding shaft 310, the axial lead of the upper driving wheel and the axial lead of the lower driven wheel are both perpendicular to the axial lead of the folding shaft 310, the upper walking motor is arranged between the upper driving wheel and the upper driven wheel, and the upper walking motor controls the upper driving wheel to walk through gear transmission. The lower cleaning structure comprises a lower walking motor, a lower driving wheel and a lower driven wheel, the lower driving wheel and the lower driven wheel are arranged on one side, away from the folding shaft 310, of the second cleaning unit 200, the axial lead of the lower driving wheel and the axial lead of the lower driven wheel are perpendicular to the axial lead of the folding shaft 310, the lower walking motor is arranged between the lower driving wheel and the lower driven wheel, and the lower walking motor is controlled by a gear to walk on the lower driving wheel.
Further, in a possible implementation manner, an upper rotating gear is fixed to a side of the upper driving wheel facing the inside (the inside means that the side of the upper driving wheel facing the second cleaning unit 200) and is coaxially disposed with the upper driving wheel, an output shaft of the upper traveling motor is provided with an upper motor gear which is engaged with the upper rotating gear, and thus, the upper driving wheel can be controlled to rotate by the upper traveling motor. When the upper driving wheel displaces, the upper driven wheel is driven to rotate.
One side of the lower driving wheel facing the inside is fixed with a lower rotating gear which is coaxially arranged with the lower driving wheel, an output shaft of the lower walking motor is provided with a lower motor gear which is meshed with the lower rotating gear, and therefore the lower driving wheel can be controlled to rotate by the lower walking motor. When the lower driving wheel is displaced, the lower driven wheel can be driven to rotate.
In another possible implementation manner, the upper motor gear of the upper walking motor and the upper rotating gear of the upper driving wheel may be connected through a gear set mechanism, and the lower motor gear of the lower walking motor and the lower rotating gear of the lower driving wheel may be connected through a gear set mechanism, thereby playing a role in reducing speed.
In a possible implementation mode, go up the action wheel, go up from the driving wheel, down the action wheel and follow the rim of driving wheel down and be the deep troughed rim, owing to can be so that go up the action wheel, go up from the driving wheel, down the action wheel and follow the protruding department that the border position of driving wheel can advance the photovoltaic board through the deep troughed card down, make placing that photovoltaic cleaning machines people can stabilize on the photovoltaic board of this application embodiment.
Furthermore, in a possible implementation manner, the rims of the upper driving wheel, the upper driven wheel, the lower driving wheel and the lower driven wheel are provided with patterns, so that the friction force between the rims of the upper driving wheel, the upper driven wheel, the lower driving wheel and the lower driven wheel and the photovoltaic panel can be increased.
In a possible implementation manner, each cleaning unit is provided with a machine returning position sensor 700 and a machine stopping position sensor 700, the machine returning position sensor 700 and the machine stopping position sensor 700 are electrically connected with a travelling mechanism in the cleaning unit, the machine returning position sensor 700 and the machine stopping position sensor 700 are respectively arranged on two sides of the cleaning unit along the cleaning moving direction, and the machine returning position sensor 700 and the machine stopping position sensor 700 are adjacent to the edge position of the cleaning unit.
Here, it should also be noted that when the machine returning position sensor 700 detects that the photovoltaic cleaning robot implemented in the present application is in the machine returning position, the upper traveling motor, the lower traveling motor, the first driving device, and the second driving device may rotate reversely, so that the first cleaning roller 500, the second cleaning roller 600, the upper driving wheel, and the lower driving wheel all rotate reversely, and the photovoltaic cleaning robot implemented in the present application will return to the initial position from the machine returning position. When the stand sensor 700 detects that the photovoltaic cleaning robot is in the stand, the upper walking motor, the lower walking motor, the first driving device and the second driving device stop moving. The way of controlling the upper walking motor, the lower walking motor, the first driving device and the second driving device by the first sensor and the second sensor is a conventional technical means of those skilled in the art, and is not described herein again.
Embodiments of the present disclosure have been described below, and the following description is intended to be illustrative, not exhaustive, and not limited to the disclosed embodiments. Many modifications and variations will be apparent to those of ordinary skill in the art without departing from the scope and spirit of the described embodiments. The terminology used herein is chosen in order to best explain the principles of the embodiments, the practical application, or improvements made to the technology in the marketplace, or to enable others of ordinary skill in the art to understand the embodiments disclosed herein.
Claims (10)
1. The photovoltaic cleaning robot is characterized by comprising more than two cleaning units, wherein the more than two cleaning units are sequentially and rotatably connected;
and a folding mechanism is arranged between every two adjacent cleaning units and is used for folding or unfolding the cleaning units.
2. The photovoltaic cleaning robot of claim 1, wherein the folding mechanism comprises a folding shaft, a mount, a rotating gear, and a first drive;
the fixed frame is fixedly arranged on a first cleaning unit or a second cleaning unit, wherein the first cleaning unit and the second cleaning unit are two adjacent cleaning units;
the folding shaft is rotatably arranged on the fixing frame, and the axis of the folding shaft is parallel to the rotating axis of the first cleaning unit;
a mechanical arm is fixed on the end face of the folding shaft and fixedly connected with the second cleaning unit;
the rotary gear is installed on the shaft body of the folding shaft, the rotary gear and the folding shaft are coaxially arranged, the first driving device is fixedly installed on the first cleaning unit, a driving gear is arranged at the output shaft end of the first driving device, and the driving gear of the first driving device is meshed with the rotary gear.
3. The photovoltaic cleaning robot of claim 2, wherein the robotic arms comprise oppositely disposed left and right robotic arms;
the left mechanical arm is positioned at one end of the folding shaft and is connected between the folding shaft and the second cleaning unit;
the right mechanical arm is positioned at the other end of the folding shaft and is connected between the folding shaft and the second cleaning unit.
4. The photovoltaic cleaning robot as claimed in claim 2, wherein the end surface of the folding shaft is polygonal, and the inner wall of the rotating gear is matched with the folding shaft;
the fixing frame is provided with more than two fixing frames which are arranged along the axial lead of the folding shaft.
5. The photovoltaic cleaning robot as recited in claim 4, wherein the end surface of the folding shaft is rectangular.
6. The photovoltaic cleaning robot as recited in claim 4, wherein there are two of the holders, and the two holders are respectively located at both sides of the rotating gear; wherein the structures of more than two fixing frames are the same;
the fixed frame comprises a base and a supporting piece, and the base is fixedly arranged on the first cleaning unit;
the supporting piece is annular, the vertical setting of supporting piece is in the base do not with the one side that first cleaning unit is connected, folding axle runs through the hole setting of supporting piece, the arris of folding axle with the inner wall butt of supporting piece.
7. The photovoltaic cleaning robot as recited in claim 2, wherein the folding mechanism further comprises an electric locking device fixedly mounted on a side of the first sweeping unit to which the second sweeping unit is connected, the electric locking device being disposed adjacent to an edge position of the first sweeping unit;
and the lock rod of the electric locking device is used for locking the second cleaning unit when the first cleaning unit and the second cleaning unit are parallel.
8. The photovoltaic cleaning robot as claimed in claim 7, wherein a laser receiving device is provided on a side wall of the first cleaning unit facing the second cleaning unit, and a laser emitting device is provided on a side wall of the second cleaning unit facing the first cleaning unit;
the laser emitting device and the laser receiving device are correspondingly arranged, and the electric lock device is driven by a motor;
when the first cleaning unit is parallel to the second cleaning unit, the laser receiving device receives laser emitted by the laser emitting device, and the motor controls a lock rod in the electric locking device to stretch out and lock the second cleaning unit.
9. The photovoltaic cleaning robot as claimed in claim 1, wherein each of the sweeping units is provided thereon with a cleaning roller and a driving device,
the driving device is fixedly installed on the sweeping unit, the cleaning roller is fixedly installed on an output shaft of the driving device, and the cleaning roller is arranged along the direction from the upper side of the sweeping unit to the lower side of the sweeping unit in the reverse direction.
10. The photovoltaic cleaning robot as claimed in claim 9, wherein a bearing is disposed at an end of the cleaning roller connected to the driving device, an inner ring of the bearing is sleeved on an outer portion of the cleaning roller, and an outer ring of the cleaning roller is fixed to the sweeping unit.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN202010450666.2A CN111495830A (en) | 2020-05-25 | 2020-05-25 | Photovoltaic cleaning robot |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202010450666.2A CN111495830A (en) | 2020-05-25 | 2020-05-25 | Photovoltaic cleaning robot |
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| CN111495830A true CN111495830A (en) | 2020-08-07 |
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