CN205837002U - Solar panel cleaning robot running gear - Google Patents
Solar panel cleaning robot running gear Download PDFInfo
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- CN205837002U CN205837002U CN201620668185.8U CN201620668185U CN205837002U CN 205837002 U CN205837002 U CN 205837002U CN 201620668185 U CN201620668185 U CN 201620668185U CN 205837002 U CN205837002 U CN 205837002U
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- wheel device
- solar panel
- cleaning robot
- dynamical system
- hairbrush
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Abstract
In order to solve the problem that existing solar panel cleaning robot running gear exists, this utility model provides a kind of solar panel cleaning robot running gear.Including basic framework, hairbrush and electric cabinet, bottom dynamical system and top dynamical system it is respectively arranged at two ends with up and down at basic framework, it is respectively provided on two sides with laser-correlation sensor at basic framework, bottom dynamical system includes hairbrush towing gear, bottom main driving wheel device and bottom driven wheel device, top dynamical system includes top main driving wheel device and top driven wheel device, bottom driven wheel device and top driven wheel device composition driven wheel device, single-chip microcomputer it is provided with inside electric cabinet, Single-chip Controlling top drivewheel and bottom drivewheel, bottom dynamical system and top dynamical system are respectively equipped with MCU and detect encoder.This utility model achieves normal walking and cleaning task, the low cost of solar panel cleaning robot, safeguards simple, has good promotional value.
Description
Technical field
This utility model relates to technical field of solar, a kind of solar panel cleaning robot walking
Device.
Background technology
In solar panel technology field, clean and keep good sunlight permeability, always affect solar energy
The key factor of photovoltaic efficiency, but, typically cleaning for people's work under existing cleaning model, manual cleaning power station cost is the highest, and
Easily step on and split cell panel, do not reach intellectuality, and the cleaning frequency is long, cause generated energy loss bigger.Need faster, more efficient
Equipment power station is carried out frequent clean, and cleaning information is real-time transmitted to backstage, just can operate cleaning equipment from backstage
Running.So far, the domestic of same approach does not also have matured product.
How the walking for solar panel cleaning robot provides power, is current urgent problem, although
Prior art gives multiple cleaning robot, but is all not up to and actual put into production and use, trace it to its cause be cost relatively
Height, compared with manual cleaning, does not possess competitiveness, and being therefore badly in need of a kind of technical scheme provides a kind of solar panel to clean
Robot walking device.
Summary of the invention
In order to solve the problem that in prior art, solar panel cleaning robot running gear exists, this utility model
A kind of solar panel cleaning robot running gear is provided.
In order to achieve the above object, this utility model adopts the following technical scheme that a kind of solar panel cleaning robot
People's running gear, including basic framework, hairbrush and electric cabinet, is respectively arranged at two ends with bottom dynamical system up and down at basic framework
With top dynamical system, being respectively provided on two sides with laser-correlation sensor at basic framework, bottom dynamical system includes that hairbrush drags
Drag device, bottom main driving wheel device and bottom driven wheel device, top dynamical system include top main driving wheel device and top from
Driving wheel device, bottom driven wheel device and top driven wheel device composition driven wheel device, be provided with single-chip microcomputer inside electric cabinet, single
Sheet machine controls top drivewheel and bottom drivewheel, is respectively equipped with MCU detection in bottom dynamical system and top dynamical system
Encoder.
This utility model has the interpretation of two kinds of detection travel distances, it is ensured that being accurately positioned of running gear, and one is, MCU examines
Surveying the signal of laser-correlation sensor, when the signal in solar panel gap being detected, X-axis left and right rows travelling wheel stops dynamic
Make；Two are, the clk pulse signal of MCU detection encoder, calculate the number of turns that grating rotates, determine the distance of walking, and by upper
The robot distance from parking stall checked by position machine software, and according to computed range, single-chip microcomputer sends return instruction, and cleaning robot is certainly
Dynamic it is returned to initial position, does not has the cleaning device of cleaning task can to prevent in group with Automatic-searching and return to parking stall simultaneously
Shade is caused on part.
When laser-correlation sensor fault, the second detection interpretation device, the event of laser-correlation sensor can be reported simultaneously
The warning of barrier.
On bottom main driving wheel device, bottom driven wheel device, top main driving wheel device, top driven wheel device and hairbrush
It is respectively equipped with proximity switch and MCU detects encoder.Proximity switch and laser-correlation sensor, it is ensured that cleaning robot precisely arrives
Reach appointment position, it is ensured that the accuracy of cleaning.
Basic framework includes that cross-brace post and vertical supporting post, cross-brace post and vertical supporting post constitute rectangle frame
Frame, is horizontally connected with transverse support bar between two vertical supporting posts and is transversely mounted bar, the two ends, outside of vertical supporting post
It is equipped with road wheel mounting bracket.Bottom main driving wheel device and top main driving wheel device are separately mounted to road wheel mounting bracket
On, and it is arranged on the same side, bottom driven wheel device and top driven wheel device are separately mounted in road wheel mounting bracket,
And it is arranged on the same side.
Described hairbrush towing gear is arranged on the bottom of basic framework, and it is connected with hairbrush by chain, upper for hairbrush
Lower mobile offer power.
Being provided with battery inside electric cabinet, it is bottom main driving wheel device and top main driving wheel device and hairbrush drives dress
Put, hairbrush self driving means provides supply of electric power.
The two ends of hairbrush itself are provided with driving motor, and band electric brush itself rotates.
Electric cabinet is connected with solar panel, and its internal battery power is directed to solar panel.
Dynamical system is made up of drivewheel and driven pulley, the power wheel that drivewheel is X-axis and Y-axis is 90 °, and driven pulley is X
Axle and Y-axis are the driven pulley of 90 °, and it is plane etc. that X-axis drivewheel and driven pulley are provided with damping device, Y-axis drivewheel and driven pulley
Away from supporting construction.
Damping device is air spring, and often group X-axis drivewheel and driven pulley are independent support.
Drivewheel and driven pulley are independently supported by damping air spring, and drivewheel and driven pulley are for being height adjustable along X-axis.
Running gear structure and obstacle detouring principle: use each two set wheels 90 ° of X/Y axle to be implemented in combination with.
Double air springs that X-axis wheels use independently support, it is possible to achieve certain takes turns when obstacle is crossed over suffered landform not
With, accomplish the function i.e. independent suspension function of self contained function in the case of suffered external force difference, do not affect the normal work of other structures
Work energy, realizes the leap of flanking obstacle with this.
Two wheels of Y-axis use plane systematic supporting constructions, run into equidistant within without the situation of the strong point, can be with
Any one wheel is as the support of same wheels, it is ensured that complete machine overall structure obstacle climbing ability in Y-axis.
This utility model, during specifically used, installs according to the version mentioned in technical scheme, connects
Power supply, adjusts gait of march according to actual needs, is first bottom and the rotation of top drivewheel, drives whole cleaning robot horizontal
To movement, postponing when arriving specific bit, hairbrush towing gear is started working, and band electric brush moves up and down, and specifies when hairbrush arrives
Behind position, the driving motor work of hairbrush itself, hairbrush towing gear work simultaneously, while hairbrush own rotation, hairbrush
Move downward or upward.
This utility model uses simple 4 motors, it is achieved that the normal walking of solar panel cleaning robot with
And the cleaning task of itself, low cost, safeguard simple, there is good promotional value.
Accompanying drawing explanation
Fig. 1 this utility model overall structure schematic perspective view；
Fig. 2 is bottom dynamical system partial structurtes schematic diagram in Fig. 1；
Fig. 3 is dynamical system partial structurtes schematic diagram in top in Fig. 1；
Fig. 4 is damping device partial structurtes enlarged diagram in Fig. 1.
In figure: 1 basic framework；2 hairbrush；3 driven wheel device；4 hairbrush towing gears；Dynamical system bottom 5；6 tops are moved
Force system；7 electric cabinets；Main driving wheel device bottom 501；Driven wheel device bottom 502；Top main driving wheel device 601；Top is driven
Wheel apparatus 602；5011 damping devices.
Detailed description of the invention
The utility model is further introduced below in conjunction with the accompanying drawings.
Embodiment
A kind of solar panel cleaning robot running gear, including basic framework 1, hairbrush 2 and electric cabinet 7, at base
Plinth framework 1 be respectively arranged at two ends with bottom dynamical system 5 and top dynamical system 6 up and down, set respectively in the both sides of basic framework 1
Laser-correlation sensor, bottom dynamical system is had to include hairbrush towing gear 4, bottom main driving wheel device 501 and bottom driven pulley
Device 502, top dynamical system 6 includes top main driving wheel device 601 and top driven wheel device 602, bottom driven wheel device
502 and top driven wheel device 602 form driven wheel device 3, electric cabinet 7 is internal is provided with single-chip microcomputer, Single-chip Controlling top master
Driving wheel 601 and bottom drivewheel 501, be respectively equipped with MCU in bottom dynamical system 5 and top dynamical system 6 and detect encoder.
Fill at bottom main driving wheel device 501, bottom driven wheel device 502, top main driving wheel device 601 and top driven pulley
Put and on 602, be respectively equipped with proximity switch and MCU detection encoder.
Basic framework 1 includes that cross-brace post and vertical supporting post, cross-brace post and vertical supporting post constitute rectangle frame
Frame, is horizontally connected with transverse support bar between two vertical supporting posts and is transversely mounted bar, the two ends, outside of vertical supporting post
It is equipped with road wheel mounting bracket.Bottom main driving wheel device 501 and top main driving wheel device 601 are separately mounted to road wheel and install
On support, and being arranged on the same side, bottom driven wheel device 502 and top driven wheel device 602 are separately mounted to road wheel
In mounting bracket, and it is arranged on the same side.
Described hairbrush towing gear 4 is arranged on the bottom of basic framework 1, and it is connected with hairbrush 2, for hairbrush 2 by chain
Offer power is provided.
Being provided with battery inside electric cabinet, it drives for bottom main driving wheel device 501 and top main driving wheel device 601 and hairbrush
Dynamic device, hairbrush self driving means provide supply of electric power.
The two ends of hairbrush 3 itself are provided with driving motor, and band electric brush 3 rotates itself.
Electric cabinet 7 is connected with solar panel, and its internal battery power is directed to solar panel.
Dynamical system is made up of drivewheel and driven pulley, the power wheel that drivewheel is X-axis and Y-axis is 90 °, and driven pulley is X
Axle and Y-axis are the driven pulley of 90 °, and it is flat that X-axis drivewheel and driven pulley are provided with damping device 5011, Y-axis drivewheel and driven pulley
The equidistant supporting construction in face.
Damping device 5011 is air spring, and often group X-axis drivewheel and driven pulley are independent support.
Drivewheel and driven pulley are independently supported by damping air spring, and drivewheel and driven pulley are for being height adjustable along X-axis.
Running gear structure and obstacle detouring principle: use each two set wheels 90 ° of X/Y axle to be implemented in combination with.
Double air springs that X-axis wheels use independently support, it is possible to achieve certain takes turns when obstacle is crossed over suffered landform not
With, accomplish the function i.e. independent suspension function of self contained function in the case of suffered external force difference, do not affect the normal work of other structures
Work energy, realizes the leap of flanking obstacle with this.
Two wheels of Y-axis use plane systematic supporting constructions, run into equidistant within without the situation of the strong point, can be with
Any one wheel is as the support of same wheels, it is ensured that complete machine overall structure obstacle climbing ability in Y-axis.
This utility model, during specifically used, installs according to the version mentioned in technical scheme, connects
Power supply, adjusts gait of march according to actual needs, is first bottom and the rotation of top drivewheel, drives whole cleaning robot horizontal
To movement, after laser-correlation sensor detects the installation gap of solar panel, halt instruction assigned by single-chip microcomputer, top
Portion and bottom dynamical system quit work, brake；Now, hairbrush towing gear 4 is started working, and band electric brush 3 moves up and down, when
After the proximity switch of hairbrush 3 detects solar panel frame, single-chip microcomputer assigns hairbrush oneself motor enabled instruction, hairbrush 3
The driving motor work of itself, hairbrush towing gear 4 works simultaneously, and while hairbrush 3 own rotation, hairbrush is downward or upward
Mobile, reach the purpose cleaned.
Claims (10)
1. a solar panel cleaning robot running gear, it is characterised in that: include basic framework (1), hairbrush (2) and
Electric cabinet (7), is respectively arranged at two ends with bottom dynamical system (5) and top dynamical system (6) up and down at basic framework (1),
Basic framework (1) be respectively provided on two sides with laser-correlation sensor, bottom dynamical system includes hairbrush towing gear (4), bottom
Main driving wheel device (501) and bottom driven wheel device (502), top dynamical system (6) include top main driving wheel device (601) and
Top driven wheel device (602), bottom driven wheel device (502) and top driven wheel device (602) composition driven wheel device
(3), electric cabinet (7) is internal is provided with single-chip microcomputer, Single-chip Controlling top drivewheel (601) and bottom drivewheel (501), in bottom
It is respectively equipped with MCU in dynamical system (5) and top dynamical system (6) and detects encoder.
Solar panel cleaning robot running gear the most according to claim 1, it is characterised in that: in bottom actively
Upper point of wheel apparatus (501), bottom driven wheel device (502), top main driving wheel device (601) and top driven wheel device (602)
It is not provided with proximity switch and MCU detects encoder.
Solar panel cleaning robot running gear the most according to claim 1, it is characterised in that: basic framework
(1) include that cross-brace post and vertical supporting post, cross-brace post and vertical supporting post constitute rectangular frame, vertically prop up at two
Being horizontally connected with transverse support bar between dagger and be transversely mounted bar, the two ends, outside of vertical supporting post are equipped with road wheel and install
Support, bottom main driving wheel device (501) and top main driving wheel device (601) are separately mounted in road wheel mounting bracket, and
It is arranged on the same side, bottom driven wheel device (502) and top driven wheel device (602) and is separately mounted to road wheel mounting bracket
On, and it is arranged on the same side.
Solar panel cleaning robot running gear the most according to claim 1, it is characterised in that: described hairbrush drags
Draging device (4) and be arranged on the bottom of basic framework (1), it is connected with hairbrush (2), for moving down on hairbrush (2) by Timing Belt
Dynamic offer power.
Solar panel cleaning robot running gear the most according to claim 1, it is characterised in that: inside electric cabinet
Be provided with battery, its be bottom main driving wheel device (501) and top main driving wheel device (601) and hairbrush driving means, hairbrush from
Body driving means provides supply of electric power.
Solar panel cleaning robot running gear the most according to claim 1, it is characterised in that: hairbrush (3) is originally
The two ends of body are provided with driving motor, and band electric brush (3) itself rotates.
Solar panel cleaning robot running gear the most according to claim 1, it is characterised in that: electric cabinet (7)
Being connected with solar panel, its internal battery power is directed to solar panel.
Solar panel cleaning robot running gear the most according to claim 1, it is characterised in that: dynamical system by
Drivewheel and driven pulley composition, the power wheel that drivewheel is X-axis and Y-axis is 90 °, driven pulley is X-axis and Y-axis is 90 ° driven
Wheel, it is plane systematic supporting construction that X-axis drivewheel and driven pulley are provided with damping device (5011), Y-axis drivewheel and driven pulley.
Solar panel cleaning robot running gear the most according to claim 8, it is characterised in that: damping device
(5011) being air spring, often group X-axis drivewheel and driven pulley are independent support.
Solar panel cleaning robot running gear the most according to claim 9, it is characterised in that: damping air
Drivewheel and driven pulley are independently supported by spring, and drivewheel and driven pulley are for being height adjustable along X-axis.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620668185.8U CN205837002U (en) | 2016-06-29 | 2016-06-29 | Solar panel cleaning robot running gear |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620668185.8U CN205837002U (en) | 2016-06-29 | 2016-06-29 | Solar panel cleaning robot running gear |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN205837002U true CN205837002U (en) | 2016-12-28 |
Family
ID=57621473
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201620668185.8U Active CN205837002U (en) | 2016-06-29 | 2016-06-29 | Solar panel cleaning robot running gear |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN205837002U (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105966490A (en) * | 2016-06-29 | 2016-09-28 | 青岛萨纳斯智能科技股份有限公司 | Walking device of solar panel cleaning robot |
| CN110116768A (en) * | 2019-04-30 | 2019-08-13 | 厦门大学 | It is drawn by front and back and scrolls up and down the quadruped robot for realizing gait control |
| CN111438101A (en) * | 2020-04-26 | 2020-07-24 | 南京泽慧能源科技有限公司 | Linkage type intelligent photovoltaic module cleaning robot |
-
2016
- 2016-06-29 CN CN201620668185.8U patent/CN205837002U/en active Active
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105966490A (en) * | 2016-06-29 | 2016-09-28 | 青岛萨纳斯智能科技股份有限公司 | Walking device of solar panel cleaning robot |
| CN110116768A (en) * | 2019-04-30 | 2019-08-13 | 厦门大学 | It is drawn by front and back and scrolls up and down the quadruped robot for realizing gait control |
| CN111438101A (en) * | 2020-04-26 | 2020-07-24 | 南京泽慧能源科技有限公司 | Linkage type intelligent photovoltaic module cleaning robot |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant |