CN111585511A - Motion frame construction of photovoltaic module cleaning machines people - Google Patents
Motion frame construction of photovoltaic module cleaning machines people Download PDFInfo
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- CN111585511A CN111585511A CN202010476729.1A CN202010476729A CN111585511A CN 111585511 A CN111585511 A CN 111585511A CN 202010476729 A CN202010476729 A CN 202010476729A CN 111585511 A CN111585511 A CN 111585511A
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- 238000004140 cleaning Methods 0.000 title claims abstract description 30
- 238000010276 construction Methods 0.000 title description 2
- 230000007246 mechanism Effects 0.000 claims abstract description 41
- 230000000670 limiting effect Effects 0.000 claims description 50
- XAGFODPZIPBFFR-UHFFFAOYSA-N aluminium Chemical compound [Al] XAGFODPZIPBFFR-UHFFFAOYSA-N 0.000 claims description 32
- 229910052782 aluminium Inorganic materials 0.000 claims description 32
- 229910000838 Al alloy Inorganic materials 0.000 claims description 5
- 230000005540 biological transmission Effects 0.000 claims description 3
- 230000002035 prolonged effect Effects 0.000 abstract description 3
- 230000009467 reduction Effects 0.000 abstract description 2
- 230000000712 assembly Effects 0.000 description 6
- 238000000429 assembly Methods 0.000 description 6
- 238000000034 method Methods 0.000 description 4
- 230000008569 process Effects 0.000 description 4
- 238000012423 maintenance Methods 0.000 description 3
- 230000001360 synchronised effect Effects 0.000 description 3
- 238000005452 bending Methods 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 239000000463 material Substances 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000006467 substitution reaction Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000003247 decreasing effect Effects 0.000 description 1
- 230000008021 deposition Effects 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
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Classifications
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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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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D55/00—Endless track vehicles
- B62D55/08—Endless track units; Parts thereof
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D55/00—Endless track vehicles
- B62D55/08—Endless track units; Parts thereof
- B62D55/30—Track-tensioning means
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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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- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Photovoltaic Devices (AREA)
Abstract
The invention discloses a moving frame structure of a photovoltaic module cleaning robot, which comprises: the frame comprises at least two frame bodies, the left end and the right end of each frame body are respectively provided with a splicing part, and the two adjacent frame bodies are detachably connected through the splicing parts; running gear, its quantity is at least two, and the left end and the right-hand member of frame are equipped with a running gear respectively at least, and running gear includes the riser, rotates on the riser and is connected with the walking wheel, fixedly connected with driving motor on the riser, is equipped with connecting portion in the framework, riser and connecting portion releasable connection. The frame comprises at least two frame bodies, and the adjacent frame bodies are detachably spliced through the splicing parts, so that the number of the frame bodies can be conveniently increased or reduced, the length of the frame is prolonged or shortened, and the increase or reduction of the number of the photovoltaic modules is adapted; the frame body is provided with a connecting part which can be connected with the travelling mechanism, the travelling mechanism can be detached and installed on the connecting part of the appropriate frame body, and the photovoltaic module is suitable for travelling on the photovoltaic modules with the changed quantity.
Description
Technical Field
The invention relates to the technical field of photovoltaic module maintenance, in particular to a moving frame structure of a photovoltaic module cleaning robot.
Background
Solar energy is an inexhaustible renewable energy source, and has the advantages of sufficient cleanness, absolute safety, relative universality, reliable long service life, resource sufficiency, potential economy and the like. Photovoltaic module produces the electric energy through absorbing the sunlight, need place for a long time in the open air, so photovoltaic module surface is adhered to by dirt such as deposition, bird excrement easily, leads to photovoltaic module's generated energy to reduce, consequently needs photovoltaic module cleaning robot to clear up the dirt on photovoltaic module surface. The photovoltaic module cleaning robot spans on the photovoltaic module, the existing photovoltaic module cleaning robot can only clean the photovoltaic modules with fixed lengths, when the photovoltaic modules need to be increased or reduced, the photovoltaic module cleaning robots with different length specifications need to be replaced, and the cost is high.
Disclosure of Invention
The present invention is directed to solving at least one of the problems of the prior art. Therefore, the invention provides a moving frame structure of a photovoltaic module cleaning robot.
A moving frame structure of a photovoltaic module cleaning robot according to an embodiment of the present invention includes:
the frame comprises at least two frame bodies, all the frame bodies are sequentially arranged along the left and right directions, splicing parts are arranged at the left end and the right end of each frame body, and every two adjacent frame bodies are detachably connected through the splicing parts;
running gear, its quantity is at least two, the left end and the right-hand member of frame are equipped with one respectively at least running gear, running gear includes the riser, it is connected with the walking wheel that the axis set up along left right direction to rotate on the riser, fixedly connected with driving motor on the riser, the walking wheel with the driving motor transmission is connected, be equipped with connecting portion in the framework, the riser with connecting portion releasable connection.
The moving frame structure of the photovoltaic module cleaning robot provided by the embodiment of the invention at least has the following beneficial effects: the length of a frame of the photovoltaic module cleaning robot determines the number of the frames capable of crossing the photovoltaic modules, the frame comprises at least two frame bodies, splicing parts are arranged at the left end and the right end of each frame body, and the adjacent frame bodies are detachably spliced through the splicing parts, so that the number of the frame bodies can be conveniently increased or reduced, the length of the frame is prolonged or shortened, and the increase or reduction of the number of the photovoltaic modules is adapted; the frame body is provided with a connecting part which can be connected with the travelling mechanism, when the number of the frame body is increased or reduced, the travelling mechanism can be detached and installed on the connecting part of the appropriate frame body, and the photovoltaic module is suitable for travelling on the photovoltaic module with the changed number.
According to some embodiments of the invention, the frame body includes a plurality of first bars extending in a left-right direction, the left and right directions are taken as the length direction of the frame body, the plurality of first transverse strips are circumferentially distributed along the length direction of the frame body, an intermediate connecting strip is connected between every two adjacent first transverse strips, the length direction of the middle connecting strip is vertical to the left and right direction, the first transverse strip and the middle connecting strip are both aluminum profile components, the frame comprises a plurality of first aluminum profile connecting pieces and a plurality of second aluminum profile connecting pieces, the first transverse strips and the middle connecting strips which are connected with each other are fixedly connected through the aluminum profile connecting pieces, the first horizontal bar is provided with a connecting groove extending along the left-right direction, the connecting groove comprises a splicing part and two adjacent first horizontal bars, and the first horizontal bars are arranged in the frame body in a one-to-one mode and are connected with the second aluminum profile connecting piece in a detachable mode.
The frame body is formed by splicing aluminum profiles, the aluminum profiles are convenient to process and splice, and grooves in the aluminum profiles can be used as connecting grooves and splicing parts; first aluminum product connecting piece and second aluminum product connecting piece are the accessory of the connection aluminium alloy commonly used, can conveniently piece into the framework to first horizontal bar and intermediate junction strip through first aluminum product connecting piece, can conveniently splice two first horizontal bars through the second aluminum product connecting piece, make two frameworks splice.
According to some embodiments of the present invention, the connecting groove includes the connecting portion, the connecting portion is disposed beside the splicing portion, and a side of at least one of the two splicing portions connected to each other is connected to one of the traveling mechanisms.
A walking mechanism is arranged at the splicing position of two adjacent frame bodies, and the walking mechanism can play a role in walking and supporting; the two running mechanisms are arranged at the two ends of the frame, the middle part of the frame is also provided with the running mechanism, and the running mechanism runs at the position close to the edge between the two photovoltaic modules, so that the middle part of the frame is supported, the strength of the splicing part of the two frame bodies is improved, and the downward bending deformation of the middle part of the frame is reduced; the number of the walking mechanisms is increased, friction between the photovoltaic module cleaning robot and the photovoltaic modules is improved, and walking stability is improved.
According to some embodiments of the invention, the frame further comprises two limiting assemblies, the two limiting assemblies are respectively arranged at the left end and the right end of the frame, each limiting assembly comprises a limiting seat fixedly connected with the frame body, a plurality of limiting wheels are rotatably connected to the limiting seats, the axes of the limiting wheels are arranged in the vertical direction, the limiting wheels are arranged in the front-back direction, the limiting assembly positioned at the left side is arranged at the left side of the walking mechanism positioned at the leftmost side, the limiting assembly positioned at the right side is arranged at the right side of the walking mechanism positioned at the rightmost side, and the limiting wheels are arranged at the lower sides of the walking wheels.
Two spacing subassembly is located respectively the left end and the right-hand member of frame, spacing wheel in two spacing subassemblies butt respectively at a plurality of photovoltaic module's leftmost flank and rightmost flank, can be to spacing on photovoltaic module cleaning machines people when walking along the fore-and-aft direction on photovoltaic module in the left and right sides direction.
According to some embodiments of the invention, the frame body arranged at the leftmost side or the rightmost side is provided with a positioning adjusting groove, the positioning adjusting groove extends along the left-right direction, the limiting seat is slidably connected with the positioning adjusting groove, a sliding locking member is fixedly connected to the limiting seat, and the limiting seat is connected with the positioning adjusting groove and locked through the sliding locking member.
The limiting seat can slide left and right along the positioning adjusting groove in the frame body, so that the limiting assembly can adapt to the photovoltaic assembly with the changed number to be subjected to fine adjustment, a better limiting effect is achieved, and the number of the photovoltaic assemblies is changed more conveniently. The limiting seat is connected with the frame body through the sliding locking piece, and the sliding locking piece can be locked on the positioning adjusting groove through screws and the like.
According to some embodiments of the invention, the limiting wheel is provided with a lightning protection belt avoiding groove arranged along the circumferential direction. Can set up lightning protection area in some photovoltaic module's side, prevent that the thunder and lightning from destroying photovoltaic module, set up lightning protection area and dodge the groove and make lightning protection area not influence spacing round rotation and removal.
According to some embodiments of the invention, the lower side of the vertical plate is rotatably connected with a plurality of travelling wheels, the travelling wheels are arranged in a front-back direction, the vertical plate is rotatably connected with an idler wheel arranged on the upper side of the travelling wheels, a travelling belt is wound around the travelling wheels and the idler wheel, and the vertical plate is further rotatably connected with a tension wheel capable of tensioning the travelling belt.
The traveling wheels in the existing traveling mechanism are directly contacted with the photovoltaic module panel, and the photovoltaic module panel is easily damaged in the traveling process. In the technology, a crawler-type travelling mechanism is adopted, a crawler-type structure is formed by a plurality of travelling wheels, idler wheels and travelling belts, and the crawler-type structure is tensioned by tensioning wheels; a plurality of walking wheels are installed at the downside and the height of riser the same, and the downside of walking area is around the downside of a plurality of walking wheels, and the walking wheel drives the walking area and rotates, through walking area and photovoltaic module panel contact, less to the damage of photovoltaic module panel, and with the area of contact increase of photovoltaic module panel, frictional force also increases, reduces the phenomenon of skidding.
According to some embodiments of the invention, the walking belt is a timing belt. Correspondingly, the traveling wheels are synchronous belt wheels, and the synchronous belts are made of rubber materials, so that the photovoltaic module panel is slightly damaged; and the walking belt is meshed with the walking wheels, so that the slippage between the walking belt and the walking wheels is reduced.
According to some embodiments of the present invention, there are two idler wheels, two idler wheels are respectively disposed at the front side and the rear side of the plurality of travelling wheels, the tensioning wheel is disposed between the two idler wheels, the tensioning wheel is pressed against the upper side of the travelling belt, the vertical plate is provided with a tensioning adjustment groove disposed along the up-down direction, and the tensioning wheel is connected and locked with the tensioning adjustment groove in a vertically slidable manner. The upper side of the walking belt is wound on the upper sides of the two idle wheels, and the tensioning wheel is positioned between the two idle wheels and downwards compresses the walking belt, so that the walking belt is tensioned, and the structure is simple.
The photovoltaic module maintenance device is used for photovoltaic module maintenance.
Drawings
The above and/or additional aspects and advantages of the present invention will become apparent and readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings. It is clear that the described figures are only some embodiments of the invention, not all embodiments, and that a person skilled in the art can also derive other designs and figures from them without inventive effort.
FIG. 1 is a perspective view of an embodiment of the present invention;
FIG. 2 is a schematic perspective view of an embodiment of the present invention mounted on a photovoltaic module;
FIG. 3 is a schematic perspective view of a travel mechanism and a stop assembly according to an embodiment of the invention;
fig. 4 is a schematic perspective view of a traveling mechanism according to an embodiment of the present invention.
In the drawings: 101-frame, 102-frame, 103-splice, 104-positioning adjustment groove, 105-first horizontal bar, 201-running mechanism, 202-vertical plate, 203-running wheel, 204-driving motor, 205-idle wheel, 206-running belt, 207-tensioning wheel, 208-tensioning adjustment groove, 209-motor controller, 301-limiting component, 302-limiting seat, 303-limiting wheel, 304-sliding locking component, 305-lightning protection belt avoiding groove and 401-photovoltaic component.
Detailed Description
Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the accompanying drawings are illustrative only for the purpose of explaining the present invention, and are not to be construed as limiting the present invention.
In the description of the present invention, it should be understood that the orientation or positional relationship referred to in the description of the orientation, such as the upper, lower, front, rear, left, right, etc., is based on the orientation or positional relationship shown in the drawings, and is only for convenience of description and simplification of description, and does not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus, should not be construed as limiting the present invention.
In the description of the present invention, unless otherwise explicitly defined, terms such as provided, connected and the like should be understood in a broad sense, and those skilled in the art can reasonably determine the specific meanings of the above terms in the present invention by combining the specific contents of the technical solutions.
A moving frame structure of a photovoltaic module cleaning robot according to an embodiment of the present invention will be described with reference to fig. 1 to 4.
The moving frame structure of the photovoltaic module cleaning robot comprises:
the frame 101 comprises at least two frame bodies 102, all the frame bodies 102 are sequentially arranged along the left and right direction, splicing parts 103 are arranged at the left end and the right end of each frame body 102, and two adjacent frame bodies 102 are detachably connected through the splicing parts 103;
running gear 201, its quantity is at least two, the left end and the right-hand member of frame 101 are equipped with one respectively at least running gear 201, running gear 201 includes riser 202, it is connected with the walking wheel 203 that the axis set up along left right direction to rotate on the riser 202, fixedly connected with driving motor 204 on the riser 202, walking wheel 203 with driving motor 204 transmission is connected, be equipped with connecting portion on the framework 102, riser 202 with connecting portion releasable connection.
The cleaning robot for the photovoltaic modules 401 mainly spans the photovoltaic modules 401 through the frame 101, a cleaning device can be arranged on the frame 101 to clean the photovoltaic modules 401, and the length of the frame 101 determines the number of the photovoltaic modules 401 which can span; the frame 101 comprises at least one frame body 102, the left end and the right end of the frame body 102 are provided with splicing parts 103, when two or more frame bodies 102 are arranged, the adjacent frame bodies 102 and the frame bodies 102 are detachably spliced through the splicing parts 103, the number of the frame bodies 102 can be conveniently increased or reduced, the length of the frame 101 is prolonged or shortened, and the frame 101 can comprise one or more frame bodies 102, so that the number of the photovoltaic modules 401 is increased or reduced. The cleaning robot for the photovoltaic module 401 walks on the photovoltaic module 401 through the walking mechanism 201, and usually the walking mechanism 201 walks at the position close to the edge of the panel of the photovoltaic module 401, and does not walk in the middle of the panel of the photovoltaic module 401, so that damage to the light receiving surface is reduced. A connecting part which can be connected with the travelling mechanism 201 is arranged on the frame body 102, the travelling mechanism 201 is of a modular structure, travelling wheels 203, a driving motor 204 and a motor controller 209 for driving the driving motor 204 are arranged on a vertical plate 202, and then the vertical plate 202 is arranged on the connecting part on the frame body 102; when the number of the frame bodies 102 is increased or decreased, the travelling mechanisms 201 can be detached by detaching the vertical plates 202, and then the travelling mechanisms 201 are installed on the connecting parts of the appropriate frame bodies 102 to adapt to travelling on the photovoltaic modules 401 with the changed number.
In some embodiments of the present invention, the frame body 102 includes a plurality of first transverse bars 105 extending along a left-right direction, the left-right direction is a length direction of the frame body 102, the plurality of first transverse bars 105 are circumferentially distributed along the length direction of the frame body 102, an intermediate connecting bar is connected between two adjacent first transverse bars 105, the length direction of the intermediate connecting bar is perpendicular to the left-right direction, the first transverse bars 105 and the intermediate connecting bar are both aluminum profile members, the frame 101 further includes a plurality of first aluminum profile connecting pieces and a plurality of second aluminum profile connecting pieces, the first transverse bars 105 and the intermediate connecting bar connected to each other are fixedly connected through the aluminum profile connecting pieces, the first transverse bars 105 have connecting grooves extending along the left-right direction, the connecting grooves include the splicing portions 103, the plurality of first transverse bars 105 in two adjacent frame bodies 102 are disposed opposite to each other and can be connected through the second aluminum profile connecting pieces And (6) detaching the connection.
The frame body 102 is formed by splicing aluminum profiles, the aluminum profiles are convenient to process and splice, and grooves in the aluminum profiles can be used as connecting grooves and can be used as splicing parts 103; can conveniently piece into framework 102 first horizontal bar 105 and middle connecting strip through first aluminum product connecting piece, can conveniently splice two first horizontal bars 105 through the second aluminum product connecting piece, make two frameworks 102 concatenations. First aluminum product connecting piece and second aluminum product connecting piece are the accessory of the connection aluminium alloy commonly used, and the kind of aluminum product connecting piece is various, can select for use the aluminum product connecting piece that is suitable for with putting the direction in a flexible way according to the shape of aluminium alloy. When installation running gear 201, riser 202 accessible angle sign indicating number is installed on the aluminium alloy that extends along left right direction, can be according to photovoltaic module 401's position, adjust riser 202 and walking wheel 203 to photovoltaic module 401 on the position that is fit for the walking, conveniently adjust the position that adapts to photovoltaic module 401.
In some embodiments of the present invention, the connecting groove includes the connecting portion, the connecting portion is disposed beside the splicing portion 103, and at least one of the splicing portions 103 connected to each other is connected to one of the traveling mechanisms 201 beside the splicing portion 103.
A travelling mechanism 201 is arranged at the splicing position of two adjacent frame bodies 102, and the travelling mechanism 201 can play a role in travelling and supporting; besides the two travelling mechanisms 201 at the two ends of the frame 101, the travelling mechanism 201 is also arranged in the middle of the frame 101, and the travelling mechanism 201 travels at the position close to the edge between the two photovoltaic modules 401, so that the middle of the frame 101 is supported, the strength of the splicing part of the two frame bodies 102 is improved, and the downward bending deformation of the middle of the frame 101 is reduced; the number of the walking mechanisms 201 is increased, friction between the cleaning robot for the photovoltaic assembly 401 and the photovoltaic assembly 401 is improved, and walking stability is improved.
In some embodiments of the present invention, the present invention further includes two limiting assemblies 301, the two limiting assemblies 301 are respectively disposed at the left end and the right end of the frame 101, the limiting assembly 301 includes a limiting seat 302 fixedly connected to the frame 102, a plurality of limiting wheels 303 whose axes are disposed along the up-down direction are rotatably connected to the limiting seat 302, the plurality of limiting wheels 303 are arranged along the front-back direction, the limiting assembly 301 located at the left side is disposed at the left side of the walking mechanism 201 located at the leftmost side, the limiting assembly 301 located at the right side is disposed at the right side of the walking mechanism 201 located at the rightmost side, and the limiting wheels 303 are disposed at the lower sides of the walking wheels 203. Two spacing subassembly 301 is located respectively the left end and the right-hand member of frame 101, spacing wheel 303 in two spacing subassemblies 301 butt respectively at a plurality of photovoltaic module 401 leftmost flank and rightmost flank, can be to spacing on the left and right sides direction when photovoltaic module 401 cleaning machines people walks along the fore-and-aft direction on photovoltaic module 401.
In some embodiments of the present invention, a positioning adjustment groove 104 is disposed on the frame body 102 disposed at the leftmost side or the rightmost side, the positioning adjustment groove 104 extends in the left-right direction, the position-limiting seat 302 is slidably connected to the positioning adjustment groove 104, a sliding locking member 304 is fixedly connected to the position-limiting seat 302, and the position-limiting seat 302 is connected to and locked to the positioning adjustment groove 104 by the sliding locking member 304. The limiting seat 302 can slide left and right along the positioning adjusting groove 104 on the frame body 102, so that the limiting assembly 301 can adapt to the photovoltaic assembly 401 with the changed number to be subjected to micro-adjustment, a better limiting effect is achieved, and the number of the photovoltaic assemblies 401 can be changed more conveniently. The retainer block 302 is connected to the frame 102 by a sliding locking member, which can be locked to the positioning adjustment groove 104 by screws or the like. The frame body 102 is composed of an aluminum profile component, and a groove on the aluminum profile component can be used as a positioning adjusting groove 104, so that the adjustment and the locking are more convenient.
In some embodiments of the present invention, the limiting wheel 303 is provided with a lightning protection belt avoiding groove 305 arranged along the circumferential direction. Can set up lightning protection area in some photovoltaic module 401's side, prevent that the thunder and lightning from destroying photovoltaic module 401, set up lightning protection area and dodge groove 305 and make lightning protection area not influence spacing wheel 303 and rotate and remove.
In some embodiments of the present invention, a plurality of the traveling wheels 203 are rotatably connected to a lower side of the vertical plate 202, the plurality of the traveling wheels 203 are arranged in a front-rear direction, an idler 205 provided on an upper side of the traveling wheels 203 is rotatably connected to the vertical plate 202, a traveling belt 206 is wound around the plurality of the traveling wheels 203 and the idler 205, and a tension wheel 207 capable of tensioning the traveling belt 206 is rotatably connected to the vertical plate 202. In the existing travelling mechanism 201, the travelling wheels 203 are directly contacted with the panel of the photovoltaic module 401, and the panel of the photovoltaic module 401 is easily damaged in the travelling process. In the technology, a crawler-type travelling mechanism 201 is adopted, a crawler-type structure is formed by a plurality of travelling wheels 203, an idler pulley 205 and a travelling belt 206, and the crawler-type travelling mechanism is tensioned by a tensioning wheel 207; a plurality of walking wheels 203 are installed at the downside and the height of riser 202 the same, and the downside of walking area 206 is around the downside of a plurality of walking wheels 203, and walking wheel 203 drives walking area 206 and rotates, through walking area 206 and the contact of photovoltaic module 401 panel, and is less to the damage of photovoltaic module 401 panel, and with the area of contact increase of photovoltaic module 401 panel, frictional force also increases, reduces the phenomenon of skidding.
In some embodiments of the present invention, the traveling belt 206 is a timing belt, and the traveling wheels 203 are timing pulleys. The synchronous belt is made of rubber materials, and the damage to the panel of the photovoltaic module 401 is small; and engage with the road wheels 203 to reduce slippage between the belt 206 and the road wheels 203.
In some embodiments of the present invention, two idler pulleys 205 are provided at front and rear sides of the plurality of travelling wheels 203, the tension pulley 207 is provided between the two idler pulleys 205, the tension pulley 207 presses against an upper side of the travelling belt 206, the vertical plate 202 is provided with a tension adjusting groove 208 arranged along an up-down direction, and the tension pulley 207 is connected and locked with the tension adjusting groove 208 in a vertically slidable manner. The upper side of the walking belt 206 is wound around the upper sides of the two idle pulleys 205, and the tension pulley 207 is positioned between the two idle pulleys 205 to press the walking belt 206 downwards, so that the walking belt 206 is tensioned, and the structure is simple. The tension wheel 207 is connected in the tension adjusting groove 208 through a connecting shaft, the tension wheel 207 is rotatably connected with the connecting shaft, the connecting shaft is slid up and down to adjust the position of the tension wheel 207, and the connecting shaft is positioned by a locking piece such as a screw or a nut after being tensioned. The travelling mechanism 201 can also comprise an auxiliary plate arranged on the travelling wheel 203 and on the opposite side of the side where the vertical plate 202 is located, the auxiliary plate is fixedly connected with the frame body 102, the travelling wheel 203, the tension wheel 207 and the idler wheel 205 are all rotatably connected with the auxiliary plate, the strength of the travelling mechanism 201 is improved, the auxiliary plate is also provided with a tension adjusting groove 208, and the tension adjusting groove 208 on the auxiliary plate is arranged opposite to the tension adjusting groove 208 on the vertical plate 202.
The embodiments of the present invention have been described in detail with reference to the accompanying drawings, but the present invention is not limited to the embodiments, and various equivalent modifications or substitutions can be made within the knowledge of those skilled in the art without departing from the gist of the present invention, and these equivalent modifications or substitutions are included in the scope defined by the claims of the present application.
Claims (9)
1. A moving frame structure of a photovoltaic module cleaning robot, comprising:
the frame comprises at least two frame bodies, all the frame bodies are sequentially arranged along the left and right directions, splicing parts are arranged at the left end and the right end of each frame body, and every two adjacent frame bodies are detachably connected through the splicing parts;
running gear, its quantity is at least two, the left end and the right-hand member of frame are equipped with one respectively at least running gear, running gear includes the riser, it is connected with the walking wheel that the axis set up along left right direction to rotate on the riser, fixedly connected with driving motor on the riser, the walking wheel with the driving motor transmission is connected, be equipped with connecting portion in the framework, the riser with connecting portion releasable connection.
2. The moving frame structure of a photovoltaic module cleaning robot as claimed in claim 1, wherein the frame body includes a plurality of first horizontal bars extending in a left-right direction, the left-right direction is a length direction of the frame body, the plurality of first horizontal bars are circumferentially distributed along the length direction of the frame body, an intermediate connecting bar is connected between two adjacent first horizontal bars, the length direction of the intermediate connecting bar is perpendicular to the left-right direction, the first horizontal bars and the intermediate connecting bar are both aluminum profile members, the frame further includes a plurality of first aluminum profile connecting pieces and a plurality of second aluminum profile connecting pieces, the first horizontal bars and the intermediate connecting bar are fixedly connected through the aluminum profile connecting pieces, the first horizontal bars are provided with connecting grooves extending in the left-right direction, the connecting grooves include the splicing portions, a plurality of adjacent two in the framework first horizontal bar is just to setting up one by one and passes through second aluminium alloy connecting piece releasable connection.
3. The moving frame structure of a photovoltaic module cleaning robot as claimed in claim 2, wherein the connecting slots include the connecting portions, the connecting portions are disposed beside the splicing portions, and one of the traveling mechanisms is connected beside at least one of the two splicing portions connected to each other.
4. The moving frame structure of a photovoltaic component cleaning robot as claimed in claim 2, further comprising two limiting components, wherein the two limiting components are respectively arranged at the left end and the right end of the frame, each limiting component comprises a limiting seat fixedly connected with the frame body, a plurality of limiting wheels are rotatably connected to the limiting seats, a plurality of axes of the limiting wheels are arranged in the vertical direction, the limiting wheels are arranged in the front-back direction, the limiting component positioned on the left side is arranged on the left side of the leftmost travelling mechanism, the limiting component positioned on the right side is arranged on the right side of the rightmost travelling mechanism, and the limiting wheels are arranged on the lower sides of the travelling wheels.
5. The moving frame structure of a photovoltaic module cleaning robot as claimed in claim 4, wherein a positioning and adjusting groove is formed in the frame body and located at the leftmost side or the rightmost side, the positioning and adjusting groove extends in the left-right direction, the limiting seat is connected with the positioning and adjusting groove in a sliding manner, a sliding locking member is fixedly connected to the limiting seat, and the limiting seat is connected with the positioning and adjusting groove and locked through the sliding locking member.
6. The moving frame structure of a photovoltaic module cleaning robot as claimed in claim 5, wherein the limiting wheel is provided with a lightning protection belt avoiding groove arranged along the circumferential direction.
7. The moving frame structure of a photovoltaic module cleaning robot as claimed in claim 1, wherein a plurality of the traveling wheels are rotatably connected to a lower side of the vertical plate, the traveling wheels are arranged in a front-rear direction, an idler wheel provided on an upper side of the traveling wheels is rotatably connected to the vertical plate, a traveling belt is wound around the traveling wheels and the idler wheel, and a tension wheel capable of tensioning the traveling belt is further rotatably connected to the vertical plate.
8. The moving frame structure of a photovoltaic module cleaning robot according to claim 7, wherein the traveling belt is a timing belt.
9. The moving frame structure of a photovoltaic module cleaning robot as claimed in claim 7, wherein two idler pulleys are provided, the two idler pulleys are provided on front and rear sides of the plurality of traveling wheels, respectively, the tension pulley is provided between the two idler pulleys, the tension pulley is pressed against an upper side of the traveling belt, the vertical plate is provided with a tension adjusting groove provided in an up-down direction, and the tension pulley is slidably coupled and locked to the tension adjusting groove in an up-down direction.
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| CN202010476729.1A CN111585511A (en) | 2020-05-29 | 2020-05-29 | Motion frame construction of photovoltaic module cleaning machines people |
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| CN202010476729.1A CN111585511A (en) | 2020-05-29 | 2020-05-29 | Motion frame construction of photovoltaic module cleaning machines people |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112757324A (en) * | 2021-02-02 | 2021-05-07 | 海容(无锡)能源科技有限公司 | Multi-component extension module for photovoltaic cleaning robot |
| CN114654949A (en) * | 2022-05-20 | 2022-06-24 | 浙江大学 | Track structure of amphibious vehicle |
-
2020
- 2020-05-29 CN CN202010476729.1A patent/CN111585511A/en active Pending
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112757324A (en) * | 2021-02-02 | 2021-05-07 | 海容(无锡)能源科技有限公司 | Multi-component extension module for photovoltaic cleaning robot |
| CN114654949A (en) * | 2022-05-20 | 2022-06-24 | 浙江大学 | Track structure of amphibious vehicle |
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