CN112657991A - Sucking disc track actuating mechanism and photovoltaic panel clean robot - Google Patents
Sucking disc track actuating mechanism and photovoltaic panel clean robot Download PDFInfo
- Publication number
- CN112657991A CN112657991A CN202011478630.1A CN202011478630A CN112657991A CN 112657991 A CN112657991 A CN 112657991A CN 202011478630 A CN202011478630 A CN 202011478630A CN 112657991 A CN112657991 A CN 112657991A
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- crawler
- crawler belt
- sucker
- belt
- plane
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- 230000007246 mechanism Effects 0.000 title claims abstract description 40
- 241000252254 Catostomidae Species 0.000 claims abstract description 22
- 238000004140 cleaning Methods 0.000 claims description 18
- 238000001125 extrusion Methods 0.000 abstract description 5
- 238000000034 method Methods 0.000 abstract description 3
- 230000008569 process Effects 0.000 abstract description 3
- 230000009286 beneficial effect Effects 0.000 abstract description 2
- 230000008859 change Effects 0.000 abstract description 2
- 238000001179 sorption measurement Methods 0.000 abstract description 2
- 241001417527 Pempheridae Species 0.000 description 5
- 238000010248 power generation Methods 0.000 description 4
- 230000005540 biological transmission Effects 0.000 description 2
- 230000009471 action Effects 0.000 description 1
- 238000006243 chemical reaction Methods 0.000 description 1
- 239000000428 dust Substances 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000007613 environmental effect Effects 0.000 description 1
- 238000002474 experimental method Methods 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 238000000926 separation method Methods 0.000 description 1
- 238000010408 sweeping Methods 0.000 description 1
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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
Abstract
The application relates to a sucking disc track actuating mechanism includes: a crawler belt; the driving wheels are arranged at the two ends of the crawler and are used for driving the crawler to rotate; the squeezing roller is rotatably arranged on the inner side of the crawler; the two sides of the outer side belt surface of the crawler belt are provided with anti-skid grains, and the middle of the crawler belt is provided with a plurality of suckers arranged along the circumference of the crawler belt; the inner side belt surface of the crawler belt is provided with a bulge corresponding to each sucker; the extrusion rollers are arranged close to one side of the crawler belt for contacting the plane, and when the crawler belt rotates, the extrusion rollers can extrude the protrusions to enable the corresponding suckers to protrude towards the outer side of the crawler belt; when the crawler is placed on a plane, the anti-skid lines are in contact with the plane, the suckers are at a certain distance from the plane, and when the suckers protrude towards the outer side of the crawler, the suckers can be in contact with the plane and adsorb. The invention has the beneficial effects that: the surface of the crawler belt is provided with a sucker structure, and the sucker can deform in the rotating process of the crawler belt to change the adsorption force, so that the photovoltaic panel can be adsorbed on the surface of the crawler belt.
Description
Technical Field
The utility model belongs to the technical field of clean the robot, especially, relate to a clean sucking disc track actuating mechanism and photovoltaic panel of robot and clean robot.
Background
At present, with the continuous improvement of photovoltaic power generation technology and the increasing emphasis of the environment by the state, the photovoltaic power generation industry has become a new trend of the domestic and foreign power generation industry with the advantages of environmental protection, high energy quality and the like, but because the photovoltaic panel used for photovoltaic power generation is usually installed outdoors, outdoor raise dust, haze, rainwater, bird excrement and the like can cause pollution and coverage to the photovoltaic panel surface, thereby greatly influencing the conversion efficiency of the photovoltaic panel, and the photovoltaic panel of the photovoltaic panel needs to be cleaned regularly.
In the prior art, there is a cleaning robot driven by a kind of caterpillar track, for example, chinese patent publication No. CN211463982U discloses an automatic cleaning robot for photovoltaic panels, which includes: the walking unit is used for driving the automatic cleaning robot to move on the cleaning photovoltaic panel, is arranged on the left side and the right side of the machine body and comprises a driven wheel, a driving wheel and a rubber track; the cleaning unit is used for cleaning the photovoltaic panel in the moving process of the automatic cleaning robot; the driving unit comprises a walking driving unit and a cleaning driving unit and is used for providing power for the cleaning unit and the walking unit; the intelligent control system intelligently controls the starting, stopping and moving of the automatic cleaning robot according to the self posture acquired by the sensor; and the power supply unit is connected with the motor and the intelligent control system and used for supplying power to the automatic cleaning robot. However, the crawler of the cleaning robot has a simple structure, and can only move on a photovoltaic panel close to the horizontal in practical use, and the cleaning robot is difficult to normally walk on a photovoltaic panel with an inclination angle of about 30 degrees.
Disclosure of Invention
The technical problem to be solved by the invention is as follows: the cleaning robot comprises a suction disc track driving mechanism, a photovoltaic panel cleaning robot body, a suction disc track driving mechanism, a photovoltaic panel cleaning mechanism and a control system.
The technical scheme adopted by the invention for solving the technical problems is as follows:
a sucker track drive mechanism comprising:
a crawler belt;
the driving wheels are arranged at two ends of the crawler and are used for driving the crawler to rotate;
the squeezing roller is rotatably arranged on the inner side of the crawler;
the two sides of the outer side belt surface of the crawler belt are provided with anti-skid grains, and the middle of the crawler belt is provided with a plurality of suckers arranged along the circumference of the crawler belt; the inner side belt surface of the crawler belt is provided with a bulge corresponding to each sucker;
the extrusion rollers are arranged close to one side of the crawler belt for contacting with a plane, and when the crawler belt rotates, the extrusion rollers can extrude the protrusions to enable the corresponding suckers to protrude towards the outer side of the crawler belt; when the crawler is placed on a plane, the anti-skid lines are in contact with the plane, the suckers are at a certain distance from the plane, and when the suckers protrude towards the outer side of the crawler, the suckers can be adsorbed on the plane.
Preferably, in the sucker track driving mechanism, the inner side belt surface of the track has belt teeth on both sides, and the driving wheel has gear teeth corresponding to the belt teeth on the circumference.
In the sucker crawler driving mechanism of the present invention, preferably, the number of the squeeze rollers is equal to or greater than one, wherein one squeeze roller is provided at a front end of the crawler in the forward direction, one squeeze roller is provided at a rear end of the crawler in the forward direction, and the other squeeze rollers are provided between both ends of the crawler in the forward direction.
Preferably, in the sucker track driving mechanism, the diameter of the middle part of the squeezing roller is larger than that of the two end parts.
Preferably, in the sucker track driving mechanism, the antiskid lines are arranged in 4 rows, and 2 rows are arranged on each side of the outer side belt surface of the track.
Preferably, the sucker track driving mechanism is in the form of herringbone patterns.
Preferably, in the sucker track driving mechanism, the edge of the sucker is rectangular.
Preferably, in the sucker track driving mechanism, the driving wheel is provided with a plurality of hollows.
Preferably, in the sucker track driving mechanism, the shape of the protrusion is rectangular.
A photovoltaic panel cleaning robot comprises the sucker track driving mechanism.
The invention has the beneficial effects that:
the surface of the crawler belt is provided with a sucker structure, and the sucker can deform in the rotating process of the crawler belt to change the adsorption force, so that the photovoltaic panel can be adsorbed on the surface of the crawler belt.
Drawings
The technical solution of the present application is further explained below with reference to the drawings and the embodiments.
FIG. 1 is a schematic three-dimensional structure of a sucker track drive mechanism according to an embodiment of the present application;
FIG. 2 is a front view of the sucker track drive mechanism of an embodiment of the present application;
FIG. 3 is a left side view of the sucker track drive mechanism of an embodiment of the present application;
FIG. 4 is a cross-sectional view N-N of a suction cup track drive mechanism according to an embodiment of the present application;
fig. 5 is a schematic view showing a state in which the suction cup of the embodiment of the present application is pressed by the protrusion.
The reference numbers in the figures are:
1 track
2 driving wheel
3 extrusion roll
11 anti-slip pattern
12 suction cup
13 are convex.
Detailed Description
It should be noted that the embodiments and features of the embodiments in the present application may be combined with each other without conflict.
In the description of the present application, it is to be understood that the terms "center," "longitudinal," "lateral," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," and the like are used in the orientation or positional relationship indicated in the drawings for convenience in describing the present application and for simplicity in description, and are not intended to indicate or imply that the referenced devices or elements must have a particular orientation, be constructed in a particular orientation, and be operated in a particular manner, and are not to be considered limiting of the scope of the present application. Furthermore, the terms "first", "second", etc. 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," "second," etc. may explicitly or implicitly include one or more of that feature. In the description of the invention, the meaning of "a plurality" is two or more unless otherwise specified.
In the description of the present application, it is to be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meaning of the above terms in the present application can be understood by those of ordinary skill in the art through specific situations.
The technical solutions of the present application will be described in detail below with reference to the accompanying drawings in conjunction with embodiments.
Examples
The present embodiment provides a sucker track drive mechanism, as shown in fig. 1-4, comprising:
a crawler belt 1;
the driving wheels 2 are arranged at two ends of the crawler 1 and are used for driving the crawler 1 to rotate;
the squeezing roller 3 is rotatably arranged on the inner side of the crawler 1;
the two sides of the outer side belt surface of the crawler 1 are provided with anti-skid grains 11, and the middle of the crawler 1 is provided with a plurality of suckers 12 arranged along the circumference of the crawler; the inner side belt surface of the crawler 1 is provided with a bulge 13 corresponding to each sucker 12;
the squeezing rollers 3 are arranged close to one side of the crawler 1 for contacting a plane, and when the crawler 1 rotates, the squeezing rollers 3 can squeeze the protrusions 13 to enable the corresponding suckers 12 to protrude towards the outer side of the crawler 1; when the crawler 1 is placed on a plane, the anti-skid patterns 11 are in contact with the plane, the suckers 12 are at a certain distance from the plane, and when the suckers 12 protrude out of the crawler 1, the suckers 12 can be in contact with the plane and adsorb the plane.
The sucking disc track actuating mechanism of this embodiment connects the sweeper frame and uses, and drive wheel 2 is driven by the motor and is rotated, and squeeze roll 3 rotationally installs in the frame. When the sweeper is used, the driving wheel 2 rotates to drive the crawler 1 to rotate, so that the sweeper can move forward, the circumference of the squeeze roller is in contact with the inner side belt surface of the crawler 1, the squeeze roller 3 can rotate under the action of friction force, and when the squeeze roller is in contact with the protrusions 13, as shown in figure 5, the protrusions 13 deform, so that the suckers 12 protrude downwards. Specifically, when the sweeper provided with the sucker crawler driving mechanism is placed on a smooth plane for sweeping, the sucker 12 can be formed into a shape as shown in fig. 5 so as to be convenient to be adsorbed on the plane, and the sucker 12 can be adsorbed on the plane when rebounded along with the separation of the bulge 13 from the squeeze roller 3. By the sucker structure, the sweeper provided with the sucker track driving mechanism can still normally work on a plane inclined by about 30 degrees.
Preferably, in the sucker track driving mechanism of the present embodiment, as shown in fig. 1, the inner side surface of the track 1 has belt teeth on both sides thereof, and the driving wheel 2 has gear teeth corresponding to the belt teeth on the circumference thereof. The structure can avoid the slipping of the crawler belt transmission and improve the transmission ratio.
Preferably, in the sucker crawler driving mechanism of the present embodiment, as shown in fig. 1 and 2, the number of the squeeze rollers 3 is 2 or more, wherein one squeeze roller is provided at the front end of the crawler 1 in the advancing direction, one squeeze roller is provided at the rear end of the crawler 1 in the advancing direction, and the other squeeze rollers 3 are provided between the two ends of the crawler 1 in the advancing direction. This structure guarantees that the plane can be grasped to the both ends of track 1 advancing direction at least, promotes stability.
Preferably, in the sucker crawler driving mechanism of the present embodiment, as shown in fig. 1, the diameter of the middle portion of the squeeze roll 3 is larger than the diameters of the both end portions. This structure can facilitate the pressing of the projection 13.
Preferably, the sucker track driving mechanism of the present embodiment, as shown in fig. 1 to 3, has 4 rows of the anti-slip pattern 11, and 2 rows are provided on each side of the outer side surface of the track. The anti-skid lines 11 are in the form of herringbone lines. Through experiments, the herringbone patterns have the best anti-slip effect among various patterns.
Preferably, in the sucker track driving mechanism of the present embodiment, as shown in fig. 1 and 3, the edge of the sucker 12 is rectangular. The rectangular shape is arranged tightly, which is convenient for arranging the suckers.
Preferably, in the sucker track driving mechanism of the present embodiment, as shown in fig. 1, the driving wheel 2 is provided with a plurality of hollows. The hollow-out reduces the weight of the equipment.
Preferably, in the sucker track driving mechanism of the present embodiment, the shape of the protrusion 13 is rectangular. The shape of the bulge 13 corresponds to that of the sucking disc, so that the sucking disc can be conveniently pressed.
The embodiment provides a photovoltaic panel cleans machine people, includes foretell sucking disc track actuating mechanism, should clean machine people.
In light of the foregoing description of the preferred embodiments according to the present application, it is to be understood that various changes and modifications may be made without departing from the spirit and scope of the invention. The technical scope of the present application is not limited to the contents of the specification, and must be determined according to the scope of the claims.
Claims (10)
1. A sucker track drive mechanism, comprising:
a crawler belt (1);
the driving wheels (2) are arranged at two ends of the crawler belt (1) and are used for driving the crawler belt (1) to rotate;
the squeezing roller (3) is rotatably arranged on the inner side of the crawler belt (1);
two sides of the outer side belt surface of the crawler belt (1) are provided with anti-skid grains (11), and the middle of the crawler belt is provided with a plurality of suckers (12) arranged along the circumference of the crawler belt; the inner side belt surface of the crawler belt (1) is provided with a bulge (13) corresponding to each sucker (12);
the squeeze roller (3) is arranged close to one side, used for contacting with a plane, of the crawler (1), and when the crawler (1) rotates, the squeeze roller (3) can squeeze the protrusions (13) to enable the corresponding suckers (12) to protrude towards the outer side of the crawler (1); when the crawler belt (1) is placed on a plane, the anti-skid grains (11) are in contact with the plane, the suckers (12) are at a certain distance from the plane, and when the suckers (12) protrude towards the outer side of the crawler belt (1), the suckers (12) can be adsorbed on the plane.
2. Sucker track drive according to claim 1, characterized in that the inner belt surface of the track (1) has belt teeth on both sides and the drive wheel (2) has gear teeth on its circumference corresponding to the belt teeth.
3. The sucker track drive mechanism according to claim 2, wherein the number of the squeeze rollers (3) is more than (2), wherein one squeeze roller is provided at the front end of the track (1) in the advancing direction, one squeeze roller is provided at the rear end of the track (1) in the advancing direction, and the other squeeze rollers (3) are provided between both ends of the track (1) in the advancing direction.
4. Sucker track drive according to claim 3, characterized in that the squeeze roller (3) has a larger diameter in the middle part than in the two end parts.
5. Sucker track drive mechanism according to any one of claims 1-4, characterized in that the non-slip pattern (11) has 4 rows, 2 rows being provided on each side of the outer belt surface of the track.
6. Sucker track drive mechanism according to claim 5, wherein the non-slip pattern (11) is in the form of a herringbone pattern.
7. Sucker track drive mechanism according to any one of claims 1-4, characterized in that the edge of the sucker (12) is rectangular in shape.
8. Sucker track drive according to any one of claims 1-4, characterized in that the driving wheel (2) is provided with a number of hollows.
9. Sucker track drive mechanism according to claim 7, characterized in that the shape of the protrusions (13) is rectangular.
10. A photovoltaic panel cleaning robot comprising a suction cup track drive mechanism as claimed in any one of claims 1 to 9.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011478630.1A CN112657991A (en) | 2020-12-15 | 2020-12-15 | Sucking disc track actuating mechanism and photovoltaic panel clean robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011478630.1A CN112657991A (en) | 2020-12-15 | 2020-12-15 | Sucking disc track actuating mechanism and photovoltaic panel clean robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN112657991A true CN112657991A (en) | 2021-04-16 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202011478630.1A Pending CN112657991A (en) | 2020-12-15 | 2020-12-15 | Sucking disc track actuating mechanism and photovoltaic panel clean robot |
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| Country | Link |
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| CN (1) | CN112657991A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| TWI798782B (en) * | 2021-08-04 | 2023-04-11 | 朱漢明 | Solar panel cleaning device and moving module thereof |
Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| SU1092083A1 (en) * | 1983-01-07 | 1984-05-15 | Laufer Mark Ya | Endless-track undercarriage |
| CN103431813A (en) * | 2013-08-07 | 2013-12-11 | 徐建宁 | Wall climbing dust remover |
| WO2015088235A1 (en) * | 2013-12-13 | 2015-06-18 | 박종원 | Caterpillar traveling using suction |
| CN205168682U (en) * | 2015-12-09 | 2016-04-20 | 沈阳工程学院 | Outer facade adsorption equipment of building |
| CN106515892A (en) * | 2015-09-11 | 2017-03-22 | 广西大学 | Device capable of realizing 90-degree climbing |
| KR101807434B1 (en) * | 2016-11-15 | 2017-12-11 | 김영지 | Powerless adsorption apparatus for moving on surface |
| CN110803230A (en) * | 2019-11-20 | 2020-02-18 | 西安理工大学 | Bionic adhesion-absorption combined type crawler wall-climbing robot |
| CN211463982U (en) * | 2019-09-07 | 2020-09-11 | 青岛鼎信通讯股份有限公司 | Automatic robot that cleans of photovoltaic panel |
| CN215198810U (en) * | 2020-12-15 | 2021-12-17 | 苏州瑞得恩光能科技有限公司 | Sucking disc track actuating mechanism and photovoltaic panel clean robot |
-
2020
- 2020-12-15 CN CN202011478630.1A patent/CN112657991A/en active Pending
Patent Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| SU1092083A1 (en) * | 1983-01-07 | 1984-05-15 | Laufer Mark Ya | Endless-track undercarriage |
| CN103431813A (en) * | 2013-08-07 | 2013-12-11 | 徐建宁 | Wall climbing dust remover |
| WO2015088235A1 (en) * | 2013-12-13 | 2015-06-18 | 박종원 | Caterpillar traveling using suction |
| CN106515892A (en) * | 2015-09-11 | 2017-03-22 | 广西大学 | Device capable of realizing 90-degree climbing |
| CN205168682U (en) * | 2015-12-09 | 2016-04-20 | 沈阳工程学院 | Outer facade adsorption equipment of building |
| KR101807434B1 (en) * | 2016-11-15 | 2017-12-11 | 김영지 | Powerless adsorption apparatus for moving on surface |
| CN211463982U (en) * | 2019-09-07 | 2020-09-11 | 青岛鼎信通讯股份有限公司 | Automatic robot that cleans of photovoltaic panel |
| CN110803230A (en) * | 2019-11-20 | 2020-02-18 | 西安理工大学 | Bionic adhesion-absorption combined type crawler wall-climbing robot |
| CN215198810U (en) * | 2020-12-15 | 2021-12-17 | 苏州瑞得恩光能科技有限公司 | Sucking disc track actuating mechanism and photovoltaic panel clean robot |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| TWI798782B (en) * | 2021-08-04 | 2023-04-11 | 朱漢明 | Solar panel cleaning device and moving module thereof |
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