CN116586394A - Anti-jamming correction mechanism of photovoltaic cleaning robot and photovoltaic cleaning robot - Google Patents
Anti-jamming correction mechanism of photovoltaic cleaning robot and photovoltaic cleaning robot Download PDFInfo
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- CN116586394A CN116586394A CN202310621766.0A CN202310621766A CN116586394A CN 116586394 A CN116586394 A CN 116586394A CN 202310621766 A CN202310621766 A CN 202310621766A CN 116586394 A CN116586394 A CN 116586394A
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- photovoltaic cleaning
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- 238000004140 cleaning Methods 0.000 title claims abstract description 138
- 230000007246 mechanism Effects 0.000 title claims abstract description 43
- 238000012937 correction Methods 0.000 title claims abstract description 33
- 238000001514 detection method Methods 0.000 claims abstract description 64
- 238000005096 rolling process Methods 0.000 claims description 18
- 238000000034 method Methods 0.000 claims description 11
- 230000006835 compression Effects 0.000 claims description 7
- 238000007906 compression Methods 0.000 claims description 7
- 238000004891 communication Methods 0.000 claims description 4
- 238000013461 design Methods 0.000 abstract description 16
- 238000004519 manufacturing process Methods 0.000 abstract description 6
- 230000000903 blocking effect Effects 0.000 abstract description 2
- 230000009471 action Effects 0.000 description 7
- 238000009434 installation Methods 0.000 description 5
- 230000008569 process Effects 0.000 description 5
- 230000005540 biological transmission Effects 0.000 description 4
- 230000033001 locomotion Effects 0.000 description 4
- 238000010586 diagram Methods 0.000 description 3
- 238000006073 displacement reaction Methods 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 230000005489 elastic deformation Effects 0.000 description 2
- 230000007613 environmental effect Effects 0.000 description 2
- 230000003044 adaptive effect Effects 0.000 description 1
- 230000000712 assembly Effects 0.000 description 1
- 238000000429 assembly Methods 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 238000006243 chemical reaction Methods 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 239000000428 dust Substances 0.000 description 1
- 239000013013 elastic material Substances 0.000 description 1
- 238000011900 installation process Methods 0.000 description 1
- 238000005259 measurement Methods 0.000 description 1
- 238000003825 pressing Methods 0.000 description 1
- 230000001960 triggered effect Effects 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B08—CLEANING
- B08B—CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
- B08B11/00—Cleaning flexible or delicate articles by methods or apparatus specially adapted thereto
- B08B11/04—Cleaning flexible or delicate articles by methods or apparatus specially adapted thereto specially adapted for plate glass, e.g. prior to manufacture of windshields
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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
- 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
- B08B13/00—Accessories or details of general applicability for machines or apparatus for 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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- Photovoltaic Devices (AREA)
Abstract
The invention discloses an anti-jamming correction mechanism of a photovoltaic cleaning robot and the photovoltaic cleaning robot, and belongs to the field of photovoltaic cleaning equipment. The invention relates to an anti-jamming deviation correcting mechanism of a photovoltaic cleaning robot, which comprises a follower arm, side wheels, a swing arm shaft, a swing detection element and an elastic reset piece, wherein the middle of the follower arm is rotatably arranged on a mounting frame at one side of the photovoltaic cleaning robot through the swing arm shaft, and the side wheels are arranged at two ends of the follower arm; the elastic reset piece is arranged on the mounting frame and elastically acts on the wheel shaft of the driven arm or the side wheel, and the swing detection element is arranged on the mounting frame. According to the invention, the side wheels of the photovoltaic cleaning robot are arranged on the follow-up arm, the elastic reset piece is used for keeping the side wheels and the mounting frame in a relatively stable state, the swing detection element is used for detecting the swing direction and the swing position of the follow-up arm, so that the photovoltaic cleaning robot is timely corrected, the problem of blocking is prevented, the structural design is simple and compact, the detection is accurate, the stability is good, and the manufacturing cost is low.
Description
Technical Field
The invention relates to a photovoltaic cleaning robot, in particular to an anti-jamming correction mechanism of the photovoltaic cleaning robot and the photovoltaic cleaning robot.
Background
The photovoltaic cleaning robot is mechanical equipment which is arranged on the photovoltaic module and used for cleaning the surface of the photovoltaic module regularly so as to prevent dust from affecting the effective irradiation of the photovoltaic module. The photovoltaic module is generally provided with a certain installation inclination angle with the ground, and the photovoltaic cleaning robot is also obliquely clung to the photovoltaic module for operation. The existing photovoltaic cleaning robot mainly comprises an upper end travelling wheel, a lower end travelling wheel and a rolling brush assembly arranged between the upper end travelling wheel and the lower end travelling wheel, wherein the upper end travelling wheel and the lower end travelling wheel are driven by an independent driving mechanism. Due to differences in environmental factors, installation process, motor synchronism, running friction force of upper and lower end travelling wheels and the like, the synchronization of the upper and lower end travelling wheels cannot be guaranteed when the photovoltaic cleaning robot runs, so that the photovoltaic cleaning robot can run at different speeds to generate deflection and inclination, and even a clamping phenomenon can be generated when the photovoltaic cleaning robot is severe.
In order to prevent the photovoltaic cleaning robot from being blocked by inclination, a plurality of photovoltaic cleaning robots at present have the functions of walking gesture detection and deviation correction control. For example, "a photovoltaic panel cleaning robot and deflection detection and correction method thereof" disclosed in chinese patent No. ZL201811267387.1, and "a photovoltaic cleaning machine inclination detection method, a controller and a photovoltaic cleaning machine" disclosed in chinese patent No. ZL201910397748.2, the former sets a universal wheel in the middle of the photovoltaic panel cleaning robot, and uses rotational displacement generated by the universal wheel when the photovoltaic cleaning robot deflects to detect the deflection angle and deflection direction, but the universal wheel is easy to swing freely during the travelling process, the self state during the travelling process is not easy to be ensured, and detection errors are easy to generate; the weight is hung in the photovoltaic cleaning robot through the swing arm, and the distance measurement sensor on the photovoltaic cleaning robot is used for detecting the deviation distance of the weight, so that the deviation angle and the deviation direction are determined, but in the walking process of the photovoltaic cleaning robot, the weight can shake which is difficult to control due to inertia and vibration, and further the walking gesture detection distortion is caused. As another example, the motion control method and related device of the flat plate cleaning robot disclosed in the chinese patent No. ZL202211133635.X, the "a photovoltaic module deviation correction type intelligent cleaning robot and control method thereof" disclosed in the chinese patent application No. 202210547250.1, and the "a solar photovoltaic system" disclosed in the chinese patent No. ZL202210121295.2, all of these patent applications adopt ranging sensors, position sensors and displacement sensors to detect the deviation angle and the deviation direction, these sensors are easily affected by environmental factors, the actual working stability is poor, and complex operation is required, and the control system and method are complex.
According to the photovoltaic panel cleaning robot and the deviation correcting method thereof disclosed in Chinese patent application number 202110112658.1, the deflection angle of the photovoltaic panel cleaning robot is obtained by detecting the included angle between the driving assembly and the outer edge of the photovoltaic panel, the two guide wheels are respectively and rotatably arranged on the fixed plate through the support rods, the two guide wheels are always in contact with the photovoltaic panel frame by the tension springs, the inclination angle of the corresponding support rods is detected by the two position sensors, the included angle between the driving assembly and the outer edge of the photovoltaic panel is obtained through conversion, the detection data are more accurate, but the structural design is more complicated, the requirement on the installation precision of a mechanism is higher, and the manufacturing cost of the photovoltaic panel cleaning robot is increased.
Disclosure of Invention
1. Technical problem to be solved by the invention
The invention aims to overcome the defects of poor correction and detection accuracy, complex structural design, high manufacturing cost and the like of the traditional photovoltaic cleaning robot, and provides an anti-jamming correction mechanism of the photovoltaic cleaning robot and the photovoltaic cleaning robot.
2. Technical proposal
In order to achieve the above purpose, the technical scheme provided by the invention is as follows:
the invention relates to an anti-jamming deviation correcting mechanism of a photovoltaic cleaning robot, which comprises a follower arm, side wheels, a swing arm shaft, a swing detection element and an elastic reset piece, wherein the middle of the follower arm is rotatably arranged on a mounting frame at one side of the photovoltaic cleaning robot through the swing arm shaft, and the side wheels are arranged at two ends of the follower arm and are used for being in rolling fit with the side wall of a photovoltaic frame at the corresponding side of a photovoltaic module; the elastic resetting piece is arranged on the mounting frame, and elastically acts on the wheel shafts of the follower arms or the side wheels, so that the side wheels at the two ends of the follower arms and the mounting frame are kept in a relatively stable state; the swing detection element is arranged on the mounting frame and used for detecting the deflection direction and the deflection position of the follow-up arm.
Furthermore, the elastic resetting piece is an elastic block which is arranged at two sides of the mounting frame and corresponds to the wheel shaft of the corresponding side wheel, and the side wall of the wheel shaft of the side wheel is propped against the elastic block at the corresponding side.
Further, the elastic block is provided with a compression deformation hole.
Furthermore, the elastic block is of a rectangular block structure and is fixed on the mounting frame through screws, the wheel shaft is provided with an abutting end, and the abutting end is provided with an abutting plane abutting against the elastic block.
Further, the swing detection element is a micro switch or a switch circuit or an angle sensor.
Further, when the swing detection element is a micro switch, the follow-up arm is provided with a touch column for triggering the micro switch, and the micro switch is respectively arranged at two sides of the touch column in the deflection direction.
Further, the lower part of the mounting frame is provided with a bottom plate, the swing arm shaft is rotatably supported on the bottom plate through a bearing seat, and the follow-up arm is positioned below the bottom plate.
Still further, swing detecting element and elasticity reset piece all locate the upside of bottom plate, still correspond on the bottom plate and be equipped with the hole of dodging.
The invention relates to a photovoltaic cleaning robot which comprises a frame assembly, an upper traveling wheel assembly, a lower traveling wheel assembly and a rolling brush assembly, wherein the upper traveling wheel assembly and the lower traveling wheel assembly are respectively arranged at two ends of the frame assembly and used for driving the photovoltaic cleaning robot to travel on a photovoltaic assembly; the rolling brush assembly is arranged below the frame assembly and used for cleaning a photovoltaic panel of the photovoltaic module; the anti-jamming correction mechanism of the photovoltaic cleaning robot is mounted on the mounting frame of the lower traveling wheel assembly.
Further, the frame assembly is provided with a controller for respectively controlling the walking speeds of the upper walking wheel assembly and the lower walking wheel assembly, and the controller is in communication connection with a swing detection element in the deviation correcting mechanism.
3. Advantageous effects
Compared with the prior art, the technical scheme provided by the invention has the following remarkable effects:
(1) The invention relates to an anti-jamming deviation correcting mechanism of a photovoltaic cleaning robot, which comprises a follower arm, side wheels, a swing arm shaft, a swing detection element and an elastic reset piece, wherein the middle of the follower arm is rotatably arranged on a mounting frame at one side of the photovoltaic cleaning robot through the swing arm shaft, and the side wheels are arranged at two ends of the follower arm and are used for rolling fit with the side wall of a photovoltaic frame at the side corresponding to a photovoltaic module; the elastic resetting piece is arranged on the mounting frame, elastically acts on the wheel shafts of the follower arms or the side wheels, and is used for enabling the side wheels at the two ends of the follower arms to be kept in a relatively stable state with the mounting frame; the swing detection element is arranged on the mounting frame and used for detecting the swing direction and the swing position of the follow-up arm; the side wheels of the photovoltaic cleaning robot are arranged on the intermediate rotating follower arm, the side wheels and the mounting frame are kept in a relatively stable state by the elastic reset piece, the swing detection element is used for detecting the swing direction and the swing position of the follower arm, when the photovoltaic cleaning robot moves to be deviated, the follower arm can generate corresponding swing under the action of the side wheels, the swing can be detected by the swing detection element, and further, the photovoltaic cleaning robot can correct the deviation in time, so that the problem of dead locking is prevented, the structure design is simple and compact, the detection is accurate, the stability is good, and the manufacturing cost is low;
(2) According to the anti-jamming deviation correcting mechanism of the photovoltaic cleaning robot, the elastic reset pieces are the elastic blocks which are arranged on the two sides of the mounting frame and correspond to the wheel shafts of the corresponding side wheels, the side walls of the wheel shafts of the side wheels are abutted against the elastic blocks on the corresponding sides, the elastic reset pieces are simple in structural design and are directly abutted against and matched with the wheel shafts of the side wheels, the installation is convenient, the two elastic blocks can keep the relative stability of the follower arm, the influence of factors such as walking vibration of the photovoltaic cleaning robot is not easy to happen, and the deflection detection of the photovoltaic cleaning robot is stable and reliable; moreover, the side wheels are designed to be of a follow-up structure, so that the deflection of the photovoltaic cleaning robot can be adapted to a certain extent, the photovoltaic cleaning robot is not easy to be directly blocked even if the photovoltaic cleaning robot has a certain deflection, and the problem that the existing photovoltaic cleaning robot is easy to be blocked can be effectively solved;
(3) According to the anti-jamming deviation correcting mechanism of the photovoltaic cleaning robot, the compression deformation holes are formed in the elastic blocks, the elastic deformation amplitude of the elastic blocks can be improved by utilizing the compression deformation holes, the deformation and the elastic performance of the elastic blocks are considered, and the deflection stability of the follow-up arm is ensured;
(4) According to the anti-jamming deviation correcting mechanism of the photovoltaic cleaning robot, the elastic block is of a rectangular block structure and is fixed on the mounting frame through the screw, the wheel shaft is provided with the abutting end, the abutting end is provided with the abutting plane abutting against the elastic block, the elastic block is simple and convenient to install, and the elastic abutting action on the wheel shaft is more stable and reliable;
(5) According to the anti-jamming deviation correcting mechanism of the photovoltaic cleaning robot, the swing detection element is a micro switch or a switch circuit or an angle sensor, so that the deflection of the follow-up arm can be simply and accurately detected, the deviation of the photovoltaic cleaning robot is corrected after the deflection reaches a set threshold value, and the deviation correction detection and control are stable and reliable;
(6) According to the anti-jamming correction mechanism of the photovoltaic cleaning robot, when the swing detection element is the micro switch, the touch column for triggering the micro switch is arranged on the follow-up arm, one micro switch is arranged on each side of the deflection direction of the touch column, the two micro switches can be used for detecting the set maximum value of deflection of the follow-up arm, the structural design is simple, the correction detection stability is good, the service life is long, and the correction control algorithm is simplified;
(7) The invention relates to an anti-jamming deviation correcting mechanism of a photovoltaic cleaning robot, wherein the lower part of a mounting frame is provided with a bottom plate, a swing arm shaft is rotatably supported on the bottom plate through a bearing seat, and a follow-up arm is positioned below the bottom plate; the swing detection element and the elastic reset element are arranged on the upper side of the bottom plate, and the bottom plate is correspondingly provided with an avoidance hole; by adopting the design, the swing detection element and the elastic reset piece can be conveniently sealed, the working environment is good, and the working stability and the service life of the swing detection element and the elastic reset piece are improved;
(8) Compared with the existing photovoltaic cleaning robot, the deviation correcting mechanism is arranged on the mounting frame of the lower travelling wheel assembly, only the side wheels of the lower travelling wheel assembly are required to be designed into swingable side wheels through the follower arm, and the side wheels are in rolling fit with the side walls of the photovoltaic frame on the corresponding side of the photovoltaic assembly, so that the deviation detection of the photovoltaic cleaning robot is realized, the structural design is simple and compact, the detection is stable and reliable, and the problem of deviation jamming of the photovoltaic cleaning robot is effectively solved;
(9) According to the photovoltaic cleaning robot, the controller used for controlling the traveling speeds of the upper traveling wheel assembly and the lower traveling wheel assembly is arranged on the frame assembly, the controller is in communication connection with the swing detection element in the deviation correcting mechanism, when the photovoltaic cleaning robot deflects, the swing detection element feeds back the deflection angle and deflection direction signals to the controller, and the controller controls the traveling speeds of the upper traveling wheel assembly and the lower traveling wheel assembly, so that the deflection of the photovoltaic cleaning robot is corrected, and the working stability of the photovoltaic cleaning robot is ensured.
Drawings
Fig. 1 is a schematic view of an operation state of a photovoltaic cleaning robot on a photovoltaic module according to the present invention;
fig. 2 is a schematic perspective view of a photovoltaic cleaning robot according to the present invention (middle length omitted);
FIG. 3 is a schematic diagram of an installation structure of an anti-seize correction mechanism of a photovoltaic cleaning robot on a lower traveling wheel assembly;
fig. 4 is a schematic diagram of an assembly structure of an anti-seize deviation correcting mechanism of a photovoltaic cleaning robot;
fig. 5 is a schematic diagram of a disassembly structure of an anti-seize deviation correcting mechanism of a photovoltaic cleaning robot;
FIG. 6 is an enlarged partial schematic view of the portion K in FIG. 5;
FIG. 7 (a) is a schematic view of the cross-sectional structure of FIG. 4 taken in the direction A-A (with the follower arm not deflected);
fig. 7 b is a schematic view of the sectional structure in the direction A-A in fig. 4 (follower arm deflection state).
Reference numerals in the schematic drawings illustrate:
100. a frame assembly; 200. an upper road wheel assembly; 300. a lower traveling wheel assembly; 31. a mounting frame; 31-1, a bottom plate; 31-1a, a wheel axle avoiding hole; 31-1b, a touch column avoiding hole; 32. a lower traveling wheel motor; 33. a lower walking wheel; 400. a deviation correcting mechanism; 41. a follower arm; 41-1, a touch column; 42. a side wheel; 42-1, wheel axle; 43. swing arm shaft; 44. a bearing seat; 45. a swing detecting element; 46. an elastic reset piece; 46-1, compression deformation holes; 500. a middle wheel assembly; 600. a photovoltaic module; 601. a photovoltaic frame; 700. a rolling brush assembly; 71. a rolling brush motor.
Detailed Description
For a further understanding of the present invention, the present invention will be described in detail with reference to the drawings and examples.
Examples (example)
Referring to fig. 1 to 5, an anti-jamming correction mechanism for a photovoltaic cleaning robot according to this embodiment is mounted on the photovoltaic cleaning robot and is used for preventing the photovoltaic cleaning robot from being jammed due to excessive deflection during traveling. The deviation correcting mechanism 400 comprises a follower arm 41, side wheels 42, a swinging arm shaft 43, a swinging detection element 45 and an elastic reset piece 46, wherein the middle of the follower arm 41 is rotatably installed on a mounting frame 31 on one side of a photovoltaic cleaning robot through the swinging arm shaft 43, so that the follower arm 41 can freely rotate around the swinging arm shaft 43, the side wheels 42 are installed at two ends of the follower arm 41 and are used for being in rolling fit with the side wall of a photovoltaic frame 601 on the corresponding side of the photovoltaic assembly 600, the walking stability of the photovoltaic cleaning robot is improved, the two follow-up side wheels 42 can adapt to the photovoltaic frame 601, and when the photovoltaic cleaning robot deflects, the follower arm 41 can correspondingly perform the swinging motion, and the adaptive swinging motion can prevent the photovoltaic cleaning robot from being blocked on the photovoltaic assembly 600 to a certain extent. The elastic restoring member 46 is provided on the mounting frame 31 and elastically acts on the wheel axle 42-1 of the follower arm 41 or the side wheels 42 for maintaining the side wheels 42 at both ends of the follower arm 41 in a relatively stable state with the mounting frame 31. In this way, when the photovoltaic cleaning robot does not deflect, the follower arm 41 can be kept basically parallel to the photovoltaic frame 601, and the two side wheels 42 do not deflect relative to the mounting frame 31; when the photovoltaic cleaning robot deflects, the two side wheels 42 still stably roll with the side walls of the photovoltaic frame 601, so that the follower arm 41 only deflects relative to the mounting frame 31, the elastic reset piece 46 on the corresponding side is compressed, and after the deflection of the photovoltaic cleaning robot is corrected, the elastic reset piece 46 can reset the follower arm 41 to a stable state. The swing detecting element 45 is provided on the mounting frame 31 for detecting the swing direction and the swing position of the follower arm 41. Thus, the deflection state of the photovoltaic cleaning robot can be determined only by detecting the deflection of the follower arm 41 by the swing detection element 45, and the deviation correction control can be accurately performed. By adopting the design, the side wheel 42 of the photovoltaic cleaning robot is arranged on the driven arm 41 which rotates in the middle, the side wheel 42 and the mounting frame 31 are kept in a relatively stable state by the elastic reset piece 46, the swing direction and the swing position of the driven arm 41 are detected by the swing detection element 45, when the photovoltaic cleaning robot moves to deviate, the corresponding swing can be generated by the driven arm 41 under the action of the side wheel 42, the swing can be detected by the swing detection element 45, the photovoltaic cleaning robot is further corrected in time, the problem of dead locking is prevented, the structural design is simple and compact, the detection is accurate and stable, and the manufacturing cost is low.
The above-mentioned elastic restoring member 46 serves to maintain the follower arm 41 in an elastic tendency to be substantially parallel to the mounting frame 31, and an existing elastic member such as a spring may be employed. In this embodiment, the elastic restoring member 46 is preferably an elastic block mounted on both sides of the mounting frame 31 corresponding to the axle 42-1 of the corresponding side wheel 42, and the side wall of the axle 42-1 of the side wheel 42 abuts against the elastic block on the corresponding side. The elastic reset piece 46 is simple in structural design, is directly in abutting fit with the wheel axle 42-1 of the side wheel 42, is convenient to install, can keep the relative stability of the follower arm 41, is not easily influenced by factors such as walking vibration of the photovoltaic cleaning robot, and enables deflection detection of the photovoltaic cleaning robot to be more stable and reliable; and, the side wheel 42 is designed to be a follow-up structure, so that the deflection of the photovoltaic cleaning robot can be adapted to a certain extent, the photovoltaic cleaning robot is not easy to be directly blocked even if a certain deflection exists, and the problem that the existing photovoltaic cleaning robot is easy to be blocked can be effectively solved. The elastic block can be made of elastic materials such as rubber, and the compression deformation hole 46-1 is formed in the elastic block, so that the elastic deformation amplitude of the elastic block can be improved by utilizing the compression deformation hole 46-1, the deformation and the elastic performance of the elastic block are considered, and the deflection stability of the follow-up arm 41 is ensured. Further, the elastic block is of a rectangular block structure and is fixed on the mounting frame 31 through screws, the wheel axle 42-1 is provided with an abutting end, the abutting end is provided with an abutting plane abutting against the elastic block, and by adopting the design, the elastic block is simple and convenient to install, and the elastic abutting action on the wheel axle 42-1 is more stable and reliable; the elastic block acts on the axle 42-1, is more sensitive to the deflection angle of the follower arm 41, and prevents the follower arm 41 from shaking due to vibration.
The swing detecting element 45 is used to detect the swing of the follower arm 41, and may be detected in various conventional manners. In the present embodiment, the swing detecting element 45 preferably employs a micro switch or a switching circuit or an angle sensor. The detection elements can simply and accurately detect the deflection amount of the driven arm, rectify the deviation of the photovoltaic cleaning robot after the deflection amount reaches a set threshold value, and the rectification detection and control are stable and reliable. Specifically, referring to fig. 3 to 6, when the swing detecting element 45 is a micro switch, the follower arm 41 is provided with a trigger post 41-1 for triggering the micro switch, and the micro switch is provided with one on each side of the trigger post 41-1 in the yaw direction. In the swinging process of the follower arm 41, the touch post 41-1 triggers the micro switch on one side, and the trigger position of the micro switch is the set maximum swinging angle position, so that once the micro switch is triggered, the follower arm 41 is illustrated to swing to the set maximum angle, and therefore the trigger signal of the micro switch is the deviation correcting action control signal. In order to prevent the micro switch from being damaged due to direct pressing of the touch column 41-1, an elastic arm can be arranged on the micro switch, the middle part of the elastic arm corresponds to a contact of the micro switch, the free end of the elastic arm corresponds to the touch column 41-1, the touch column 41-1 presses the elastic arm to deform so as to trigger the micro switch, and therefore, even if the touch column 41-1 presses the elastic arm too much, a certain buffer allowance can be provided. The set maximum value of the deflection of the follow-up arm 41 can be detected by utilizing the two micro switches, the structure design is simple, the deflection correction detection stability is good, the service life is long, and the simplification of a deflection correction control algorithm is facilitated. When the swing detecting element 45 is a switch circuit, the principle is similar to that of a micro switch, namely, the deflection state of the follower arm 41 is detected by a simple circuit on-off signal, two circuit on-off points are arranged on the switch circuit, and the circuit on-off control of the circuit on-off points is realized when the follower arm 41 swings by using a switch trigger similar to the touch column 41-1, so that a deviation rectifying control signal is generated. When the swing detecting element 45 is an angle sensor, the angle sensor can be mounted on the swing arm shaft 43, at this time, the swing arm shaft 43 is fixedly connected with the follower arm 41, the swing arm shaft 43 rotates along with the swing arm 41 in the swing process, the rotation angle of the swing arm shaft 43 can be detected by using the angle sensor, and when the rotation angle exceeds a set threshold value, a deviation correcting control signal is sent. The angle sensor may be an existing magnetoresistive angle sensor or a resistive angle sensor, etc.
Referring to fig. 3 to 6, in the present embodiment, the mount 31 has a bottom plate 31-1 at a lower portion thereof, a swing arm shaft 43 is rotatably supported on the bottom plate 31-1 via a bearing block 44, and a follower arm 41 is located below the bottom plate 31-1. The swing detecting element 45 and the elastic restoring element 46 are both arranged on the upper side of the bottom plate 31-1, and the bottom plate 31-1 is correspondingly provided with a avoidance hole. Specifically, taking the swing detection element 45 as an example of a micro switch, the corresponding position of the bottom plate 31-1 is respectively provided with an axle avoiding hole 31-1a and a touch column avoiding hole 31-1b, the upper end of an axle 42-1 of the side wheel 42 passes through the corresponding axle avoiding hole 31-1a and then acts on the corresponding elastic reset piece 46, and the upper end of the touch column 41-1 passes through the corresponding touch column avoiding hole 31-1b and then is matched with the micro switch. By adopting the design, the swing detection element 45 and the elastic reset piece 46 can be conveniently sealed, the working environment is good, and the working stability and the service life of the swing detection element 45 and the elastic reset piece 46 are improved.
Referring to fig. 1 and 2, the present embodiment further relates to a photovoltaic cleaning robot, which includes a frame assembly 100, an upper traveling wheel assembly 200, a lower traveling wheel assembly 300 and a rolling brush assembly 700, wherein the frame assembly 100 is erected on the photovoltaic module 600, and the upper traveling wheel assembly 200 and the lower traveling wheel assembly 300 are respectively arranged at two ends of the frame assembly 100, and are used for driving the photovoltaic cleaning robot to walk on the photovoltaic module 600; the rolling brush assembly 700 is disposed below the frame assembly 100 for cleaning the photovoltaic panel of the photovoltaic module 600. The upper traveling wheel assembly 200 and the lower traveling wheel assembly 300 are respectively and independently driven, the upper traveling wheel assembly 200 is positioned at the upper part of the photovoltaic module 600 and comprises an upper traveling wheel, a side driving wheel and an upper traveling wheel motor, the axes of the upper traveling wheel and the side driving wheel are vertical, and the upper traveling wheel motor can be respectively in transmission fit with the upper traveling wheel and the side driving wheel through a pair of bevel gears to drive the upper traveling wheel and the side driving wheel to synchronously rotate. The lower traveling wheel assembly 300 is located at the lower part of the photovoltaic module 600, and comprises a lower traveling wheel motor 32 and a lower traveling wheel 33, wherein the lower traveling wheel 33 is installed on the installation frame 31 and is perpendicular to the axis of the side wheel 42, and the lower traveling wheel motor 32 is in transmission connection with the lower traveling wheel 33 to drive the lower traveling wheel 33 to rotate. The rolling brush assembly 700 comprises a brush and a rolling brush motor 71, wherein the rolling brush motor 71 can be arranged on the mounting frame 31 and is in transmission connection with the brush to drive the brush to rotate so as to clean the photovoltaic panel. Unlike the existing photovoltaic cleaning robot, the photovoltaic cleaning robot of this embodiment further includes the above-mentioned anti-jamming correction mechanism of the photovoltaic cleaning robot, and the correction mechanism 400 is mounted on the mounting frame 31 of the lower traveling wheel assembly 300. In this way, when the photovoltaic cleaning robot is not deflected, the side wheels 42 mainly play a guiding role, once the photovoltaic cleaning robot is deflected, the side wheels 42 drive the follower arms 41 to swing relative to the mounting frame 31, so that the deflection angle of the photovoltaic cleaning robot on the photovoltaic module 600 can be reflected by detecting the swing direction and the angle of the follower arms 41 through the swing detection element 45, and further the deviation correction control of the photovoltaic cleaning robot is realized.
Further, the frame assembly 100 is provided with a controller for controlling the traveling speeds of the upper traveling wheel assembly 200 and the lower traveling wheel assembly 300 respectively, the controller is in communication connection with the swing detection element 45 in the deviation rectifying mechanism 400, after the deviation of the photovoltaic cleaning robot occurs, the swing detection element 45 detects that the deviation angle exceeds the set threshold, at this time, the swing detection element 45 sends a deviation rectifying control signal to the controller, and the controller controls the traveling speeds of the upper traveling wheel assembly 200 and the lower traveling wheel assembly 300 to change according to the signal fed back by the swing detection element 45, so that the traveling gesture of the photovoltaic cleaning robot is rectified, and the deviation and the locking of the photovoltaic cleaning robot are prevented.
Fig. 7 (a) and 7 (b) show the principle of the deviation correcting action of the anti-seize deviation correcting mechanism of the photovoltaic cleaning robot and the photovoltaic cleaning robot. Fig. 7 (a) shows a state in which no deflection occurs between the follower arm 41 and the mount 31. During the travel of the photovoltaic cleaning robot, it is difficult for the photovoltaic cleaning robot to completely remain unbiased on the photovoltaic module 600 due to the travel speed synchronicity of the upper and lower travel wheel assemblies 200 and 300 and other influencing factors. When the photovoltaic cleaning robot deflects, the side wheels 42 can keep contact with the side walls of the photovoltaic frame 601 of the photovoltaic module 600, so that the follower arm 41 can keep basically parallel movement relative to the photovoltaic frame 601, the mounting frame 31 and the follower arm 41 incline, as shown in fig. 7 (b), the wheel axle 42-1 of one side wheel 42 presses the corresponding elastic reset piece 46, the wheel axle 42-1 of the other side wheel 42 is far away from the corresponding elastic reset piece 46, and meanwhile, the relative position of the touch column 41-1 on the follower arm 4 and the mounting frame 31 also changes, and the touch column 41-1 contacts with the corresponding swing detection element 45 (micro switch) so that the swing detection element 45 generates a deviation correcting signal; the swing detection element 45 feeds back a signal to a controller of the photovoltaic cleaning robot, and the controller controls the traveling speed of the traveling wheel assembly on the relatively backward side to accelerate or the traveling speed of the traveling wheel assembly on the relatively forward side to decelerate according to the deflection direction of the photovoltaic cleaning robot, so that the traveling gesture of the photovoltaic cleaning robot is corrected.
For the photovoltaic cleaning robot with larger span, the middle wheel assembly 500 can be arranged in the middle of the frame assembly 100, the middle wheel assembly 500 comprises a roller mounting frame and a middle roller arranged on the roller mounting frame, the middle roller can be a follower wheel, and can also be used as a driving wheel through a transmission shaft and the upper traveling wheel assembly 200 and/or the lower traveling wheel assembly 300.
Other specific structures and working principles of the photovoltaic cleaning robot are similar to those of the prior art, so that description is not repeated here.
According to the anti-jamming correction mechanism for the photovoltaic cleaning robot, the side wheels of the photovoltaic cleaning robot are arranged on the intermediate rotating follow-up arm, the side wheels and the mounting frame are kept in a relatively stable state by the elastic reset piece, the swing detection element is used for detecting the swing direction and the swing position of the follow-up arm, when the photovoltaic cleaning robot moves to be inclined, the follow-up arm can generate corresponding swing under the action of the side wheels, the swing can be detected by the swing detection element, and further the anti-jamming correction is carried out on the photovoltaic cleaning robot in time, so that the problem of jamming is prevented, the structural design is simple and compact, the detection is accurate, the stability is good, and the manufacturing cost is low. By adopting the photovoltaic cleaning robot with the deviation correcting mechanism, only the side wheels of the lower traveling wheel assembly are designed to be swingable through the follow-up arm, the side wheels are utilized to be in rolling fit with the side walls of the photovoltaic frame on the corresponding sides of the photovoltaic modules, so that the deviation detection of the photovoltaic cleaning robot is realized, the structural design is simple and compact, the detection is stable and reliable, and the problem of deviation blocking of the photovoltaic cleaning robot is effectively solved.
The invention and its embodiments have been described above schematically, without limitation, and the actual construction is not limited to this, as it is shown in the drawings, which are only one of the embodiments of the invention. Therefore, if one of ordinary skill in the art is informed by this disclosure, a structural manner and an embodiment similar to the technical scheme are not creatively devised without departing from the gist of the present invention, and all the structural manners and the embodiments belong to the protection scope of the present invention.
Claims (10)
1. The utility model provides a photovoltaic cleans machine people anti-sticking and closes mechanism of rectifying which characterized in that: the device comprises a follower arm (41), side wheels (42), a swing arm shaft (43), a swing detection element (45) and an elastic reset piece (46), wherein the middle of the follower arm (41) is rotatably installed on a mounting frame (31) on one side of a photovoltaic cleaning robot through the swing arm shaft (43), and the side wheels (42) are installed at two ends of the follower arm (41) and are used for being in rolling fit with the side wall of a photovoltaic frame (601) on the corresponding side of a photovoltaic assembly (600); the elastic reset piece (46) is arranged on the mounting frame (31) and elastically acts on the wheel shaft (42-1) of the follower arm (41) or the side wheels (42) to keep the side wheels (42) at two ends of the follower arm (41) and the mounting frame (31) in a relatively stable state; the swing detection element (45) is arranged on the mounting frame (31) and is used for detecting the swing direction and the swing position of the follow-up arm (41).
2. The anti-seize correction mechanism of a photovoltaic cleaning robot as claimed in claim 1, characterized in that: the elastic reset piece (46) is an elastic block which is arranged on two sides of the mounting frame (31) and corresponds to the wheel shaft (42-1) of the corresponding side wheel (42), and the side wall of the wheel shaft (42-1) of the side wheel (42) is propped against the elastic block on the corresponding side.
3. The anti-seize correction mechanism of a photovoltaic cleaning robot as claimed in claim 2, characterized in that: the elastic block is provided with a compression deformation hole (46-1).
4. The anti-seize correction mechanism of a photovoltaic cleaning robot as claimed in claim 2, characterized in that: the elastic block is of a rectangular block structure and is fixed on the mounting frame (31) through screws, the wheel axle (42-1) is provided with an abutting end, and the abutting end is provided with an abutting plane abutting against the elastic block.
5. The anti-seize correction mechanism for a photovoltaic cleaning robot according to any one of claims 1 to 4, characterized in that: the swing detection element (45) is a micro switch or a switch circuit or an angle sensor.
6. The anti-seize correction mechanism of a photovoltaic cleaning robot as claimed in claim 5, wherein: when the swing detection element (45) is a micro switch, a touch column (41-1) for triggering the micro switch is arranged on the follow-up arm (41), and the micro switch is respectively arranged on two sides of the touch column (41-1) in the deflection direction.
7. The anti-seize correction mechanism of a photovoltaic cleaning robot as claimed in claim 1, characterized in that: the lower part of the mounting frame (31) is provided with a bottom plate (31-1), the swing arm shaft (43) is rotatably supported on the bottom plate (31-1) through a bearing seat (44), and the follow-up arm (41) is positioned below the bottom plate (31-1).
8. The anti-seize correction mechanism of a photovoltaic cleaning robot as claimed in claim 7, characterized in that: the swing detection element (45) and the elastic reset piece (46) are arranged on the upper side of the bottom plate (31-1), and the bottom plate (31-1) is correspondingly provided with an avoidance hole.
9. The photovoltaic cleaning robot comprises a frame assembly (100), an upper travelling wheel assembly (200), a lower travelling wheel assembly (300) and a rolling brush assembly (700), wherein the upper travelling wheel assembly (200) and the lower travelling wheel assembly (300) are respectively arranged at two ends of the frame assembly (100) and used for driving the photovoltaic cleaning robot to walk on a photovoltaic module (600); the rolling brush assembly (700) is arranged below the frame assembly (100) and is used for cleaning a photovoltaic panel of the photovoltaic module (600); the method is characterized in that: further comprising the anti-seize correction mechanism for a photovoltaic cleaning robot according to any one of claims 1 to 8, the correction mechanism (400) being mounted on a mounting frame (31) of the lower road wheel assembly (300).
10. The photovoltaic cleaning robot of claim 9, wherein: the frame assembly (100) is provided with a controller for respectively controlling the walking speeds of the upper walking wheel assembly (200) and the lower walking wheel assembly (300), and the controller is in communication connection with a swing detection element (45) in the deviation correcting mechanism (400).
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310621766.0A CN116586394A (en) | 2023-05-30 | 2023-05-30 | Anti-jamming correction mechanism of photovoltaic cleaning robot and photovoltaic cleaning robot |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202310621766.0A CN116586394A (en) | 2023-05-30 | 2023-05-30 | Anti-jamming correction mechanism of photovoltaic cleaning robot and photovoltaic cleaning robot |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117411418A (en) * | 2023-10-27 | 2024-01-16 | 凌度(广东)智能科技发展有限公司 | Cleaning robot and motion control method thereof |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117411418A (en) * | 2023-10-27 | 2024-01-16 | 凌度(广东)智能科技发展有限公司 | Cleaning robot and motion control method thereof |
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