CN206031039U - Solar panel cleans machine people driving system - Google Patents
Solar panel cleans machine people driving system Download PDFInfo
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- CN206031039U CN206031039U CN201621066827.3U CN201621066827U CN206031039U CN 206031039 U CN206031039 U CN 206031039U CN 201621066827 U CN201621066827 U CN 201621066827U CN 206031039 U CN206031039 U CN 206031039U
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- crawler belt
- wheel hub
- front wheel
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- car body
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Abstract
The utility model provides a solar panel cleans machine people driving system, including an automobile body, one left front round, a right front wheel, a left rear wheel, one right back round, a left driving motor and a right driving motor.
Description
Technical field
This utility model is related to sweeping robot field, more particularly to a kind of solar panel sweeping robot dynamical system
System.
Background technology
In the case where Fossil fuel is reduced increasingly, the mankind are become as a kind of solar energy of emerging regenerative resource
Using the important component part of the energy, nearly ten years, Application of Solar Energy technology all obtains fast development in countries in the world.Solar energy
Panel refers to that the photovoltaic effect (photovoltaic) occurred under illumination condition using semi-conducting material is straight by solar energy
Switch through the device for being changed to electric energy.Have where sunlight and can just generate electricity, thus solar panel suitable for from power large-scale electric generating station to
Various occasions such as small portable charger, are developed rapidly in recent years.
The working environment of solar panel can only be outdoor, and the greatest problem for affecting its work is not wind and rain thunder and lightning, and
It is the dust of long-term accumulation.Dust or other attachments are attached with solar panel, the light transmittance of panel plate can be affected, and are hindered
Photoelectric efficiency, so as to have a strong impact on the efficiency of panel direct access sunlight, reduces the energy absorption and conversion efficiency of panel, drop
Low generating efficiency.The solar panel of prior art in use can only be by manually cleaning work be periodically completed, due to the sun
Energy panel area is larger, large-scale power station panel used at the same time is more, and dust can be accumulated repeatedly, need to clean repeatedly；Therefore
Human cost is very high, cleaning efficiency is low, cleaning effect is poor.In many occasions, in order to improve space availability ratio, solar panel
All it is to be arranged aloft using support, this just brings bigger difficulty and risk to cleaning work.The use of many solar panels
Family can only select not clear up to reduce disposal costs, can only so be forced to undertake electric energy loss caused by dust.So, just need
There is a new automatic cleaning equipment, solar panel is cleared up automatically.
The sweeping robot of prior art is typically all can be only applied on level ground, it is impossible to suitable for solar panel this
The slope plane of sample.If existing sweeping robot is used directly on solar panel, problems with can be caused.
（1）Sweeping robot is short of power, freely can not advance, it is poor to clean effect；Due to the inclination angle of solar panel
Degree typically between 10 degree ~ 40 degree, freely can not advance in the plane of slope by existing sweeping robot, that is, enable inadequate traveling,
Electricity will soon be exhausted.
（2）Sweeping robot can be slid from solar panel；Due to solar panel smoother, existing sweeping machine
People's weight and wheel coefficient of friction are all smaller, and frictional force is also smaller, advance difficult, it is easy to slide.
（3）Sweeping robot can not route running according to the rules, in traveling, area coverage is little, can be from solar panel edge
Place falls；Existing sweeping robot is typically arranged to run into barrier auto-steering, due to not any on solar panel
Barrier, the sweeping robot of automatic running can only be advanced on single-pathway, and the area coverage in its traveling process is little, inevitable
Can fall from solar panel edge.Even if having planned path in advance, existing sweeping robot is easily subject in traveling
The impact of gravity and panel attachment, can also be easy to deflection path, it is difficult to ensure that straight-line travelling；And sweeping robot itself
Cannot discover, it is impossible to go over whole panel, can stay it is a large amount of clean less than space.
（4）Sweeping robot charges difficult；Due to the solar panel higher, area of height it is larger, once by scavenging machine
After device people serves, being removed can be relatively difficult, and prior art needs sweeping robot is moved away from scene or artificial manually
Battery is taken out, then which is charged, so as to can not be long lasting for carrying out field operation, and due to many solar energy faces
Plate is arranged aloft with support, therefore its charging operations is bothered very much, wastes a large amount of manpowers.
（5）Sweeping robot Working Status Monitoring is difficult, as solar panel may be arranged aloft, on ground
Staff cannot accomplish complete monitoring to its course of work, even if sweeping robot breaks down, out of service or route
Wander off, staff also cannot learn in time.
Utility model content
The purpose of this utility model is, there is provided a kind of solar panel sweeping robot dynamical system, existing to solve
The technical problem such as control that sweeping robot is present is difficult, is short of power, freely can not advance, easily sliding.
For solving the above problems, this utility model provides a kind of solar panel sweeping robot dynamical system, including one
Car body, a near front wheel, an off-front wheel, a left driving motor and a right driving motor.The car body is in an at least solar energy face
Travel on plate or resident；Described the near front wheel is arranged on the anterior left side of the car body bottom surface, left front including a left front wheel hub and one
Wheel shaft, the left front wheel shaft are arranged at the left front wheel hub center；The off-front wheel is arranged on the right side in portion in face of the car body
Side, including an off-front wheel hub and a front right axle, the front right axle is arranged at the off-front wheel hub center；The left driving
Motor is arranged on the vehicle bottom, including a left drive shaft, is connected to the left front wheel shaft, to control described the near front wheel
Rotating speed and direction of rotation；The right driving motor is arranged on the vehicle bottom, including a right drive shaft, is connected to described
Front right axle, to control rotating speed and the direction of rotation of the off-front wheel.
Further, the solar panel sweeping robot dynamical system also includes a control system, is respectively connecting to
The left driving motor, the right driving motor, the control system are sent to the left driving motor, the right driving motor
An at least control instruction, controls the left driving motor, the rotating speed of the right driving motor and direction of rotation, and then adjusts described
The near front wheel, the rotating speed of the off-front wheel and direction of rotation.
Further, the solar panel sweeping robot dynamical system also include a left rear wheel, an off hind wheel and
Two crawler belts；The left rear wheel is arranged on the anterior left side of the car body bottom surface, including a left back wheel hub and a left back wheel shaft, institute
Left back wheel hub is stated with the left front wheel hub on same straight line, the left back wheel shaft is arranged at the left back wheel hub center；
The off hind wheel is arranged on the anterior right side of the car body bottom surface, including an off hind wheel hub and an off hind wheel axle, the off hind wheel
With the off-front wheel hub on same straight line, the off hind wheel axle is arranged at the off hind wheel hub center to hub；Behind the right side
Wheel is pivotally connected to the left back wheel shaft；Two crawler belts are all a flexible chain link, and a wherein crawler belt is coated on the left front wheel hub, institute
State outside the annular sidewall of left back wheel hub；Another crawler belt is coated on outside the off-front wheel hub, the annular sidewall of the off hind wheel hub
Portion.
Further, the solar panel sweeping robot dynamical system also include at least wheel hub gear teeth, at least one
Crawler belt internal tooth, at least a non-slipping block or at least an anti-skid design；The wheel hub gear teeth are uniformly arranged on the left front wheel hub, institute
State left back wheel hub, the off-front wheel hub, the annular sidewall outer surface of the off hind wheel hub；The crawler belt internal tooth is uniformly arranged on
The interior side-wall surface of the crawler belt, the crawler belt internal tooth and the wheel hub gear teeth meshing；The non-slipping block, protrudes from two crawler belts
Lateral wall；The anti-skid design is recessed in the lateral wall of two crawler belts.
Further, the solar panel sweeping robot dynamical system also includes an at least track takeup；Bag
Include transmission belt on, lower drive belts, tensioned portion, once compressed part, a resilient support portion on one.The upper transmission belt is described
Crawler belt top, its lower surface are provided with an at least crawler belt internal tooth；The lower drive belts be the crawler belt bottom, its upper surface be provided with to
A few crawler belt internal tooth；The upper tensioned portion upper end leukorrhagia plane tangent or is engaged with the upper transmission, to be tensioned the upload
Dynamic band；The lower compression subordinate end is tangent with the lower drive belts upper surface, to compress the lower drive belts；The elasticity
One end of support part is connected to the upper tensioned portion, and its other end is connected to the lower compressed part, to support the upper tensioned portion
And the lower compressed part.
Further, the track takeup also include one or two crawler belt side plate, an at least waist-shaped hole, at least one
Installation axle；The crawler belt side plate is arranged at the one or both sides of the crawler belt；The waist-shaped hole vertical is located at the crawler belt side
The top of plate；Each installation axle one end slides up and down formula and is arranged in a waist-shaped hole；Or, each installation axle two ends slide up and down
Formula is arranged in two relative waist-shaped holes, and two waist-shaped holes are located on two crawler belt side plates respectively.
Further, the installation axle includes an at least gear mounting shaft；The upper tensioned portion includes at least one tensioning tooth
Wheel, each Tension gear is attached on a gear mounting shaft by a rolling bearing, its upper end and described upper is driven leukorrhagia surface
Engagement.
Further, the installation axle also includes an at least drive installation axle；The upper tensioned portion also includes at least one
Tensioning drive, each tensioning drive is attached in a drive installation axle by a rolling bearing, itself and the tensioning tooth
Wheel is tangent or engages；One " V " shape frame, its top are respectively arranged at two ends with a drive installation axle, are provided with above the " V " shape frame
One gear mounting shaft；Wherein, the gear mounting shaft is parallel with the drive installation axle, and the gear mounting shaft is located at two
The top of drive installation axle middle.Or, the upper tensioned portion also includes a " V " shape frame, and the two ends on its top set respectively
There is a gear mounting shaft.
Further, the lower compressed part includes at least one tensioning pressing plate, tangent with the lower drive belts upper surface；It is described
Resilient support portion includes one " ∧ " shape elastic component, and the corner on its top is connected to the upper tensioned portion lower end, the two of its underpart
End is respectively connecting to a tensioning pressing plate.
This utility model advantage is that this utility model adopts crawler belt and anti-skidding block structure to cause the car body of sweeping robot
Can act on one's own without sliding on solar panel；Left and right front-wheel bi-motor is driven respectively, and power preferably, can be right
The traveling situation of car body realizes precise control, car body is adjusted direct of travel as needed for greater flexibility and is realized pirouette
It is curved, the coverage of driving path can be increased as far as possible.
Description of the drawings
Fig. 1 is the overall appearance schematic diagram of sweeping robot in this utility model embodiment；
Fig. 2 is the structural representation inside sweeping robot in this utility model embodiment；
Fig. 3 is the decomposition texture schematic diagram of sweeping robot in this utility model embodiment；
Fig. 4 is dynamical system overall structure diagram in this utility model embodiment；
Fig. 5 removes the structural representation after crawler belt shell for dynamical system in this utility model embodiment；
Fig. 6 is the structural representation of the first track takeup in this utility model embodiment；
Fig. 7 removes the structural representation after crawler belt side plate for the first track takeup in this utility model embodiment；
Fig. 8 removes the structural representation after crawler belt for the first track takeup in this utility model embodiment；
Fig. 9 removes the structural representation after crawler belt side plate for second track takeup in this utility model embodiment；
Figure 10 removes the structural representation after crawler belt side plate for the third track takeup in this utility model embodiment；
Figure 11 is the structured flowchart of control system in this utility model embodiment；
Figure 12 is to set up the schematic diagram of three-dimensional system of coordinate in robot in this utility model embodiment.
Figure Detail number is as follows：
100 solar panel sweeping robots/sweeping robot/robot, 300 slope planes, 400 servers；
1 car body, 2 clearing apparatus, 3 dynamical systems, 4 control systems, 5 power systems；11 vehicle bodies；
21 clean motor, 22 round brush, 23 drive mechanisms；
31 the near front wheels, 32 off-front wheels, 33 left rear wheels, 34 off hind wheels, 35, left driving motor, 36 right driving motors, 37 carry out
Band, the 38 wheel hub gear teeth, 39 track takeups；
41 data acquisition units, 42 processors, 43 memory element, 44 alarm units, 45 wireless communication units；51 batteries
Box；
311 left front wheel hubs, 312 left front wheel shafts, 321 off-front wheel hubs, 322 front right axles, 331 left back wheel hubs, behind 341 right sides
Wheel hub；
371 crawler belt shells, 372 crawler belt internal tooths, 373 non-slipping blocks, transmission belt on 374,375 lower drive belts；
Tensioned portion on 391,392 times compressed parts, 393 resilient support portions, 394 crawler belt side plates, 395 crawler belt top boards, 396 waist types
Hole, 397 installation axles, 398 gear stands；
411 acceleration transducers, 412 Magnetic Sensors, 413 range sensors, 414 enumerators, 415 image sensors；
3911 " V " shape framves, 3912 tensioning drives, 3913 Tension gears, 3914 " V " shape flat boards, 3915 crossbeams, 3916
Roller gear, 3917 cylinder linkage portions；
3921 tensioning pressing plates, 3931 " ∧ " shape elastic component；
3971 gear mounting shafts, 3972 drive installation axles.
Specific embodiment
A preferred embodiment of the present utility model is introduced below with reference to Figure of description, it was demonstrated that this utility model can be real
Apply, the embodiment can be to those of skill in the art's complete description this utility model so as to which technology contents are clearer
With readily appreciate.This utility model can be emerged from by the embodiment of many multi-forms, protection of the present utility model
The embodiment that scope is mentioned in being not limited only to text.
In the accompanying drawings, structure identical part is represented with same numbers label, everywhere the similar component of structure or function with
Like numeral label is represented.The size of each part shown in the drawings and thickness arbitrarily illustrate that this utility model does not have
Limit size and the thickness of each component.In order that diagram is apparent, in accompanying drawing, some places suitably exaggerate the thickness of part.
The direction term that this utility model is previously mentioned, for example " on ", D score, "front", "rear", "left", "right", " interior ", "
Outward ", " side " etc., is only the direction in accompanying drawing, is used only to explain and illustrate this utility model, rather than is used for limiting this reality
With new protection domain.
When some parts be described as " " another part " on " when, the part can be placed directly within another part
On；Can also there is an intermediate member, the part is placed on the intermediate member, and the intermediate member is placed in another part
On.When a part is described as " being attached to " or " being connected to " another part, the two can be understood as directly " installing " or
" connection ", or part is by an intermediate member " being attached to ", or " being connected to " another part indirectly.
As shown in Fig. 1 ~ Fig. 3, the present embodiment provides a kind of solar panel sweeping robot 100（Hereinafter referred to as scavenging machine
Device people or robot）, including a car body 1, car body 1 can be travelled on an at least solar panel；Car body 1 is internal or external to be set
There are a clearing apparatus 2, a dynamical system 3, a control system 4 and unified power system 5.
Clearing apparatus 2 is to clean solar panel in car body traveling process；Dynamical system 3 exists to adjust car body 1
Direct of travel and travel speed on solar panel, control car body 1 are travelled, stop or are turned to；Control system 4 is respectively connecting to
Dynamical system 3 and clearing apparatus 2, to send various control signals to dynamical system 3 and clearing apparatus 2.Power system 5 is distinguished
Dynamical system 3, clearing apparatus 2, control system 4 is connected to, electricity is provided for dynamical system 3, clearing apparatus 2, control system 4
Power.
The present embodiment solar panel sweeping robot 100 in normal work on solar panel, when power system 5 is opened
When dynamic, control system 4 sends an at least traveling control instruction and at least and cleans control instruction, and dynamical system 3 is according to the traveling
Control instruction, controls car body 1 along the route of an advance planning；Meanwhile, clearing apparatus 2 is opened according to the cleaning control instruction
Dynamic clearing apparatus 2, starts to clean solar panel.During car body 1 is travelled, control system 4 sends multiple to dynamical system 3
Traveling control instruction, such as school are instructed partially, turn command, u-turn instruction, etc., so as to order car body 1 straight line course send out
Return on former route in the case of raw deflection, namely carry out school and process partially；Or under certain condition or certain position turn or
Person carries out U-shaped revolution（U-turn）So that car body 1 can be travelled according to the path optimizing of advance planning.Specific air navigation aid, school
Folk prescription method, control car body are turned or carry out U-shaped revolution（U-turn）Method, is described in greater detail below.In whole driving process
In, no matter which kind of traveling mode car body 1 is, such as straight trip, deflection, school partially, turn or turn round, clearing apparatus 2 remains work
State.When control system 4 is based on some running parameters（As advance planning path all cover or 5 electricity of power system not
Foot）When sending the traveling control instruction for stopping advancing, car body 1 stops traveling；Control system 4 sends cleaning control and refers to simultaneously
Order, closes clearing apparatus 2, stops cleaning.
As shown in Figure 4, Figure 5, in the present embodiment, dynamical system 3 is arranged in 1 bottom of car body, to 1 row of band motor vehicles bodies
Enter, including a near front wheel 31, an off-front wheel 32, a left rear wheel 33, an off hind wheel 34,35, one right driving electricity of a left driving motor
Machine 36 and two crawler belts 37.
The near front wheel 31 is arranged on the anterior left side of the car body bottom surface, including a left front wheel hub 311 and a left front wheel shaft
312, left front wheel shaft 312 is arranged at 311 center of left front wheel hub；Off-front wheel 32 is arranged on the anterior right side of the car body bottom surface,
Including an off-front wheel hub 321 and a front right axle 322, front right axle 322 is arranged at 321 center of off-front wheel hub；Left rear wheel 33
Installed in the left side at the car body bottom surface rear portion, including a left back wheel hub 331 and a left back wheel shaft 332（It is not shown）, left rear wheel
With left front wheel hub 311 on same straight line, the left back wheel shaft is arranged at 331 center of left back wheel hub to hub 331；Off hind wheel 34
Installed in the right side at the car body bottom surface rear portion, including an off hind wheel hub 341 and an off hind wheel axle（It is not shown）, off hind wheel hub
341 are located on same straight line with off-front wheel hub 321；The off hind wheel axle is arranged at 341 center of off hind wheel hub.The off hind wheel
Axle is directly connected to or by an actuating device（It is not shown）It is connected to the left back wheel shaft.Left driving motor 35, right driving motor
36 are fixedly attached on car body 1 by a fixing device, are connected to power system 5 by an at least wire, by least one letter
Number line is connected to control system 4.Left driving motor 35 is directly connected to or by an actuating device（It is not shown）It is connected to the near front wheel
Axle 312, right driving motor 36 are directly connected to or by an actuating device（It is not shown）It is connected to front right axle 322.Two crawler belts
37 are all a flexible chain link, and a wherein crawler belt 37 is coated on outside left front wheel hub 311, the annular sidewall of left back wheel hub 331；It is another
Crawler belt 37 is coated on outside off-front wheel hub 321, the annular sidewall of off hind wheel hub 341.A crawler belt is provided with outside each crawler belt 37
Shell 371, to protect crawler belt and wheel hub, has prevented debris from entering in crawler belt or wheel hub, affects 1 normal traveling of car body.
In the present embodiment, control system 4 is according to the path optimizing of advance planning to left driving motor 35, right driving motor 36
Send an at least traveling control signal so that left driving motor 35,36 synchronization control the near front wheel 31 of right driving motor, off-front wheel 32
Rotating speed and direction of rotation, and then adjust direct of travel and the gait of march of car body 1, make car body realize straight trip, school partially, 90 degree turns
The revolution of curved, U-shaped（U-turn）Deng action.
When car body straight ahead is needed, control system 4 is sent always to left driving motor 35, right driving motor 36 simultaneously
Line traveling control instruction, control instruction include identical motor speed（For example the rotating speed of left driving motor, right driving motor is all
It is 60 revs/min）With the rotation direction of motor rotating shaft（As left driving motor turns clockwise, right driving motor is counterclockwise
Turn）, can thus drive the near front wheel 31, off-front wheel 32 synchronously to rotate forward, left rear wheel 33, off hind wheel 34 are driven pulley, are being carried out
Also with the near front wheel 31, off-front wheel 32 is synchronous rotates forward under drive with 37 so that whole car body 1 advances.
When needing car body 1 to deflect to the right, control system 4 sends one to left driving motor 35, right driving motor 36 simultaneously
School is advanced control instruction partially, and the motor speed in the control instruction that left driving motor 35 is received is than control that right driving motor 36 is received
Motor speed in system instruction is bigger than normal, and the difference of rotating speed depends on needing the misalignment angle of adjustment, and misalignment angle is less, speed discrepancy
Value is also less.Similarly, when needing car body 1 to deflect to the left, the motor in the control instruction that left driving motor 35 is received turns
Motor speed in the control instruction that speed is received than right driving motor 36 is less than normal.When car body 1 returns to original default direct of travel
Afterwards, control system 4 sends straight line traveling control instruction again again, and left driving motor 35, the rotating speed of right driving motor 36 become again
For identical so that car body 1 continues straight line and advances.
When needing car body to do 90 degree of turnings, control system 4 calculates left driving electricity according to the size of default radius of turn
Machine 35, the rotating speed of right driving motor 36 and rotation direction, if radius of turn is larger, the rotation direction of its motor can phase
Instead（One clockwise, one counterclockwise）, the near front wheel 31, off-front wheel 32 are synchronously rotated forward, or are arranged to a wheel stopping
Rotate, so as to the effect for realizing turning in advancing；If radius of turn is less or pivot turn, left driving motor 35, right drive
The rotation direction of galvanic electricity machine 36 can be designed as identical, be all clockwise or be all counterclockwise, such the near front wheel 31, off-front wheel 32
Will one rotate forward, one rotate backward, the side of car body 1 is advanced, and opposite side is retreated, so as to formed minor-circle turn or
The effect of pivot turn.
U-shaped revolution is carried out when car body is needed（Also referred to as reverse end for end）When, need car body travel after turning through 180 degree to former car
On the adjacent track in road；The technical scheme that now once property is turned round or turned round stage by stage.Control system 4 is according to default turning
The size of radius calculates left driving motor 35, the rotating speed of right driving motor 36 and rotation direction.In the scheme of disposable revolution
In, radius of turn is equal to the half of width of the carbody, and the front-wheel of turning medial stops operating or pole jogging speed is rotated forward（If to
A left side carries out U-shaped revolution, then the near front wheel stops operating；If carrying out to the right U-shaped revolution, off-front wheel stops operating）, outside of turning
Front-wheel is quickly rotated forward, realizes U-shaped revolution to the left or to the right.In the scheme turned round stage by stage, can be as the case may be
Different scheme at calculating, is preferably as follows scheme in the present embodiment：First control car body 1 and first do in situ 90 degree turns to the left or to the right
It is curved, car body is then controlled again and is moved forward the distance of a body width, finally control car body again and do to the left or to the right in situ
90 degree of turnings, can both realize U-shaped revolution to the left or to the right, and just travel adjacent with previous track after U-shaped revolution
Track on so that the space that the robot ride of the present embodiment is crossed can realize not repeating, the effect without dead angle.
Dynamical system 3 also includes at least wheel hub gear teeth 38, is uniformly arranged on left front wheel hub 311, left back wheel hub 331, the right side
The annular sidewall outer surface of front hub 321, off hind wheel hub 341；And an at least crawler belt internal tooth 372, it is uniformly arranged on crawler belt
37 interior side-wall surface, crawler belt internal tooth 372 are engaged with the wheel hub gear teeth 38, it is ensured that when two front-wheels 31,32 are rotated, crawler belt 37 can
To be engaged with two wheel hubs, normally used.
Due to solar panel it is relatively smooth, and also certain gradient, therefore sweeping robot car body exists
Easily slide during traveling.For solving this problem, as shown in figure 4, dynamical system 3 also includes an at least non-slipping block 373, dash forward
For the lateral wall of two crawler belts 37, non-slipping block 373 can be arranged in orderly array, be evenly distributed on whole piece crawler belt 37.
The car body 1 of the present embodiment installs non-slipping block 373 additional using track structure, in crawler belt outer wall, is provided to increase coefficient of friction, increases
Strong earth-grasping force, prevents car body 1 from sliding in traveling.Similarly, at least one can also be arranged on the crawler belt 37 of the present embodiment anti-skidding
Decorative pattern（It is not shown）, the lateral wall of two crawler belts being recessed in, is evenly distributed on whole piece crawler belt, its effect is identical with non-slipping block.
In the present embodiment, having technical effect that for dynamical system 3 causes sweeping robot using crawler belt and anti-skidding block structure
Car body can act on one's own without sliding on solar panel；Left and right front-wheel bi-motor is driven respectively, can be to car
The traveling situation of body realizes precise control, car body is adjusted direct of travel as needed for greater flexibility and is realized pirouette
It is curved, the coverage of driving path can be increased as far as possible.
As shown in Fig. 6 ~ Fig. 8, dynamical system 3 also includes two track takeups 39,39 points of each track takeup
It is not arranged in a crawler belt 37.Crawler belt after mounting, with certain slackness, it is therefore desirable to which the flexible chain link is carried out
It is tight to adjust, to ensure that crawler belt normally can advance.Prior art is to install inducer in front of crawler belt additional, and configuration on inducer is separated
Mechanism and two scroll bars, realize tensioning by adjusting separating mechanism and worm screw.The mode and structure of this regulation is comparatively laborious,
And can only disposably adjust and finish, and real-time adjustment can not be carried out in crawler belt running.
The present embodiment provides following three kinds of track takeups, and as shown in Fig. 6 ~ Fig. 8, the first track takeup 39 is wrapped
Include tensioned portion 391 on, once compressed part 392 and a resilient support portion 393.
Crawler belt 37 is a flexible chain link, and its medial surface is provided with equally distributed crawler belt internal tooth 372.Crawler belt 37 includes a upload
374, one lower drive belts 375 of dynamic band；Top of the upper transmission belt 374 for crawler belt 37, bottom of the lower drive belts 375 for crawler belt 37, on
374 lower surface of transmission belt is all provided with an at least crawler belt internal tooth 372 with 375 upper surface of lower drive belts.
391 upper end of upper tensioned portion is tangent with 374 lower surface of upper transmission belt or engages, and to be tensioned upper transmission belt 374, is carrying out
In band operation, upper tensioned portion 391 is slided with upper transmission belt 374 or roller is connected.On lower compression subordinate end and lower drive belts 375
Plane tangent, to compress lower drive belts 375；The one end in resilient support portion 393 is connected to tensioned portion 391, and its other end connects
Lower compressed part 392 is connected to, to support the upper tensioned portion and the lower compressed part.
As shown in fig. 6, track takeup 39 can include two crawler belt side plates 394, the two of crawler belt 37 are respectively arranged at
Side, two crawler belt side plates 394 can be linked together by a crawler belt top board 395, constitute the crawler belt shell 371 of integration,
Crawler belt shell 371 is fixedly attached at the wheel shaft of car body 1 by an at least bolt.The top of each crawler belt side plate 394 be provided with to
The waist-shaped hole 396 of a few vertical.Track takeup 39 also includes an at least installation axle 397, and its two ends slides up and down formula
It is arranged in two relative waist-shaped holes 396, two waist-shaped holes 396 are located on two crawler belt side plates 394 respectively.Installation axle 397
And the part being assemblied in installation axle 397 can be moved up and down in the range of waist-shaped hole 396 is limited.Track takeup 39
A crawler belt side plate 394 can also be only included, the outside of robot crawler belt 37 is arranged at；The top of the crawler belt side plate is provided with vertically
An at least waist-shaped hole of formula, the only one end of installation axle 397 slide up and down formula and are arranged in a waist-shaped hole 396.It is excellent in the present embodiment
The scheme that a crawler belt side plate arranges three waist-shaped holes is selected in, three waist-shaped holes are arranged in triangle disposition.
Installation axle 397 includes an at least gear mounting shaft 3971 and an at least drive installation axle 3972；The present embodiment is excellent
A gear mounting shaft 3971 and the two drive installation axles, gear mounting shaft 3971 are selected with two drive installation axles 3972 to be in
Triangle disposition is arranged.Upper tensioned portion 391 includes a " V " shape frame 3911, at least one tensioning drive 3912 and an at least tensioning
Gear 3913, preferably one Tension gear 3913 of the present embodiment and two tensioning drives 3912, Tension gear 3913 and two
Tensioning drive 312 is arranged in triangle disposition.
3911 top of " V " shape frame is respectively arranged at two ends with a drive installation axle 3972；" V " shape frame 3911 includes putting down each other
Two panels " V " shape flat board 3914 and two crossbeams 3915 that row is arranged, 3915 two ends of each crossbeam are respectively fixedly connected with to two panels " V "
Shape flat board 3914；Drive installation axle 3972 is perpendicular to " V " shape flat board 3914.Gear mounting shaft 3971 is arranged at " V " shape frame
Above in the of 3911, just to two drive installation axles 3972 in the middle of.
Tensioning drive 3912 passes through a rolling bearing（It is not shown）It is attached in the drive installation axle 3972；It is each
Tension gear passes through a rolling bearing（It is not shown）It is attached on a gear mounting shaft 3971, under its upper end and upper transmission belt 374
Engage on surface.
Lower section of two tensioning drives 3912 located at 3913 both sides of Tension gear.Tensioning drive 3912 and the tensioning
Gear 3913 is tangent or engages, and the two can realize transmission；On Tension gear 3913, tensioning drive, 3912 can have face of gear
Face of gear can also be whether there is, the two engagement if having face of gear, if anodontia wheel face, the two is tangent.
In the present embodiment, Tension gear 3913 is duplex straight spur gear, specifically includes two 3916 Hes of roller gear
One cylinder linkage portion 3917.Two roller gears 3916 are engaged with 374 lower surface of upper transmission belt；Cylinder linkage portion 3917 is located at two
Between individual roller gear 3916；The diameter of two roller gears 3916 is identical；3917 diameter of linkage portion is less than roller gear 3916
Diameter, each tensioning drive 3912 is tangent with the linkage portion of Tension gear 3913.
Lower compressed part 392 is at least one tensioning pressing plate 3921, preferably two, is tensioned pressing plate 3921 and lower drive belts 375
Upper surface is tangent；Resilient support portion 393 includes " ∧ " shape elastic component 3931, and the corner on its top is connected to compressed part
391 lower ends, namely the corner of 3911 bottom of " V " shape frame；The two ends of its underpart are respectively connecting to a tensioning pressing plate 3921.
There is an arcuate socket corner of 3911 lower end of " V " shape frame, and the bent angle on 3931 top of " ∧ " shape elastic component is a semicircle
Angle；The top of " ∧ " the shape elastic component 3931 with half fillet is connected in the arcuate socket.3931 bottom of " ∧ " shape elastic component
Two ends are connected to a circular shackle, are respectively connecting to two 3921 upper surfaces of tensioning pressing plate；Specifically, each tensioning pressure
3921 upper surface of plate is provided with a groove, is provided with 3921 connecting shaft of a tensioning pressing plate in groove, and each circular shackle correspondence connects
To tensioning 3921 connecting shaft of pressing plate.
The crawler belt of the present embodiment in operation, as crawler belt 37 is a flexible chain link, the crawler belt internal tooth of its inner surface with it is front
Latter two wheelboss side wall is engaged, while Tension gear 3913 is also engaged with 374 lower surface of upper transmission belt, 37 rolls forward of crawler belt
When, drive Tension gear 3913 to rotate.
Before above-mentioned each part is fitted together, " ∧ " shape elastic component 3931 in the case where not deforming upon, its subtended angle
It is less；After above-mentioned each part is assembled, " ∧ " shape elastic component is deformed upon, the angle increase opened so that crawler belt 37 is in
Tensioning state.Now, " ∧ " shape elastic component has the original shape of recovery（The less state of subtended angle）Trend.
When the crawler belt with wheel hub is moved forward and backward, crawler belt 37 acts on Tension gear 3913, drives 3913 turns of Tension gear
Dynamic, i.e., equivalent to the active force by crawler belt 3931, the active force produces a downward component, promotes Tension gear 3913 along waist
Type hole 396 is moved down, and now, tensioning drive 3912 is tangent with Tension gear 3913, and is acted on by Tension gear 3913
Move down, further compress " ∧ " shape elastic component 3931, now, the subtended angle of " ∧ " shape elastic component 3931 continues increase,
3931 deformation of " ∧ " shape elastic component is increased, and the elastic force of generation further increases.
When crawler belt and Tension gear 3913 from, or Tension gear 3913 and drive from when, " ∧ " shape elastic component
The elastic potential energy compressed by 3931 release parts, subtended angle diminish, are tensioned crawler belt 37 again.And so on circulate, according to shoe
With 37 kinestate, resilient support portion 393 can reduce the rigidity friction between part, favorably with real-time adjustment tensile force
In the service life of reinforcing member.
As shown in figure 9, the present embodiment also provides second track takeup, its most of technical scheme is carried out with the first
Belting is identical, and its distinguishing feature is, in second track takeup, installation axle only includes the installation of an at least gear
Axle 3971, and do not include drive installation axle 3972, preferably two gear mounting shafts 3971 arranged in parallel.Upper tensioned portion 391
Including a " V " shape frame and an at least Tension gear 3913, preferably two Tension gears 3913 of the present embodiment, two Tension gears
3913 is in product word arrangement.3911 top of " V " shape frame is respectively arranged at two ends with a gear mounting shaft 3971, and gear mounting shaft 3971 hangs down
Directly in " V " shape flat board 3914.Lower compressed part 392 is at least one tensioning pressing plate 3921, tangent with 375 upper surface of lower drive belts.Bullet
Property supporting part 393 be spring support that a spring or multiple springs are constituted, or rubber blanket, its one end are connected to " V "
The corner of 3911 bottom of shape frame, its other end are connected to tensioning pressing plate 3921.Second track takeup structure is simpler
Single, cost is relatively low, but tension effects are slightly worse, and the material requirement to resilient support portion 393 is higher；Its operation principle is carried out with the first
Band tensioner is similar to, and therefore not to repeat here.
As shown in Figure 10, the present embodiment also provides the third track takeup, its most of technical scheme with second
Crawler attachment is identical, and its distinguishing feature is, upper tensioned portion 391 includes an at least Tension gear 3913, preferably one, often
One Tension gear 3913 is attached on a gear mounting shaft 3971 by a rolling bearing；The third track takeup also includes
One gear stand 398, to replace " V " shape frame, its upper end is provided with gear mounting shaft 3971, and its lower end is connected to resilient support
Portion 393.Lower compressed part 392 is at least one tensioning pressing plate 3921, and resilient support portion 393 is that a spring or multiple springs are constituted
Spring support, or rubber blanket, its one end are connected to 398 lower end of gear stand, and its other end is connected to tensioning pressing plate
3921.The third track takeup is relatively simple for structure, and cost is relatively low, but tension effects are slightly worse, to resilient support portion 393 and
The material of gear stand 398 requires higher；Its operation principle is similar with second track takeup, and therefore not to repeat here.
In the present embodiment, track takeup has technical effect that, using a kind of " slidable fit design ", i.e., at upper
A resilient support portion 393 is installed between portion 391 and lower compressed part 392 additional tightly, the upper downslide of the tensioner is realized by waist-shaped hole
It is dynamic, reach the purpose of real-time adjustment；It is this to be adjusted to flexible adjustment, it is the real-time tune realized according to crawler belt self-operating
It is whole, the component wear of rigidity adjustment can be improved, the frictional force between part is reduced, increase the service life of crawler belt；After adjustment
Crawler belt, road surface can be adapted in time, the robot with the track takeup can reach the purpose of power saving；And tie
Structure is simple, easy to assembly.
As shown in figure 11, in the present embodiment, control system 4 includes a data acquisition unit 41, a processor 42 and at least
One memory element 43.Data acquisition unit 41 includes multiple sensors, to gather at least work in 1 traveling process of car body
Parameter；Processor 42 is connected to data acquisition unit 41, sends at least one traveling control according to the running parameter to dynamical system 3
System instruction, sends at least one cleaning control instruction according to the running parameter to clearing apparatus 2.Memory element 43 is connected to process
Device 42, to store running parameter and the other specification for precalculating or arranging during car body 1 is traveled across.The running parameter bag
Include the real time acceleration data of car body 1, real-time direct of travel data, liquid distributing container real-time level data, each distance to pass
The parameters such as the image in front of the distance between sensor and solar panel, car body.The other specification for precalculating or arranging includes
The default various operational datas of staff, the sweeping robot driving path for such as precalculating and having planned（Path optimizing）,
Liquid level data alarm threshold value in liquid distributing container 25（When reaching this threshold value, alarm unit is reported to the police）, liquid level data shut-down threshold
Value（When reaching this threshold value, suction pump 28 is out of service）, etc..
Staff by the path optimizing typing planned to control system 4, provides road for sweeping robot car body in advance
Footpath is navigated, and control system 4 carries out computing and planning according to the path optimizing, and when will start, when stop, when straight line
Traveling, when to the left or to the right 90 degree turnings, when to the left or to the right 90 degree carry out the control information such as U-shaped revolution, with various controls
The mode of system instruction is sent to dynamical system, to control action of the car body in traveling.
In car body control technology, how to judge car body in the plane of slope whether straight-line travelling, how to control car body and exist
In the plane of slope, straight-line travelling is most basic problem, if car body lacks supervision during straight-line travelling, once car body because
For some factors（Such as road surface local is uneven, have barrier etc. on road surface）Deflect, the phenomenon for walking more inclined and more inclined will occur,
In this utility model, robot can be caused to deviate existing guidance path, it is impossible to go over whole slope plane within the shortest time.
In the present embodiment, after the completion of sweeping robot operation being caused, many places on solar panel, do not clear up in time
Totally.
In order to solve how to judge the technical problem of the robot of the present embodiment whether on the slope straight-line travelling, this enforcement
Example provides following technical scheme.
In control system 4, data acquisition unit 41 includes an at least acceleration transducer 411, to Real-time Collection machine
Device people 100（Or car body 1）Acceleration information；Acceleration transducer 411 is connected to processor 42, by the acceleration number of degrees of car body 1
According to processor 42 is sent to, the analysis dynamic acceleration data of processor 42 can analyze the car body during car body traveling
Impact direction and direct of travel etc..The acceleration information of robot 100 is set up three-dimensional system of coordinate decomposition computation by processor 42,
It is Y-axis positive direction to define 100 direct of travel of robot, and it is Z-direction to define perpendicular to the direction of the slope plane；The X
Axle is parallel with the slope plane with plane residing for the Y-axis.According to acceleration information in the vector of X-direction, car body 1 is judged
Whether have to the left or be deviated to the right, if occurring to deviate, the processor sends at least one party to adjust instruction to dynamical system 3,
So that car body 1 is returned on the direct route of its script；If without departing from processor 42 judges car body 1 as straight-line travelling.
Further, in order to ensure the accuracy of straight-line travelling judgement, in addition to being judged with acceleration transducer, may be used also
To judge to find the situation for deviateing route to acceleration transducer using magnetic sensor technologies, judged again, that is, magnetic
The secondary judgement of sensor.For this purpose, in control system 4, data acquisition unit 41 can also include a Magnetic Sensor 412, connection
To processor 42, Magnetic Sensor 412 measures the physical parameters such as electric current, position, direction with induced field intensity.The present embodiment
In, Magnetic Sensor 412 to Real-time Collection direct of travel data, and according to path optimizing data standard traveling side set in advance
Judged to after contrast, to confirm car body whether as straight-line travelling so that the judgement of car body whether straight-line travelling is more accurate.
In order to solve how to judge the solar panel sweeping robot described in the present embodiment（Hereinafter referred to as robot）It is
The no technical problem for straight-line travelling, present embodiments provides a kind of straight-line travelling in slope plane 300 of sweeping robot 100
Decision method, can include following each step.As solar panel is a slope plane, therefore this decision method can use
In judging whether solar panel sweeping robot is straight-line travelling.
Step S1）As shown in figure 12, three-dimensional system of coordinate is set up in the robot, define the robot direct of travel
For Y-axis positive direction, it is Z-direction to define perpendicular to the direction of the slope plane；The X-axis and plane residing for the Y-axis with
The slope plane is parallel.
Step S2）Define the robot direct of travel for Ts when, gravity acceleration g is in three sides of the three-dimensional system of coordinate
Standard scores vector g upwardsxs0、gys0、gzs0。
Step S3）Generate a reference direction parameter library；Specifically include following steps：Step S31）Control the robot to exist
Uniform circular motion is done along a default circular path in the slope plane, the angular velocity of the uniform circular motion is
0.1 ~ 1.0 degrees second；Step S32）During the robot moves in a circle, t is spaced at regular intervals0Real-time Collection
And record least one set reference direction parameter, time interval t0For the 0.1-5.0 seconds；Each group of reference direction parameter includes institute
State robot a direct of travel Ts and to should direct of travel standard scores vector gxs0、gys0、gzs0；And step S33）Root
A reference direction parameter library is generated according to least one set reference direction parameter.With 0.1 degrees second of angular velocity, acquisition time interval t0=1
As a example by second, robot 100 completes a uniform circular motion in slope plane 300, probably needs 3600 seconds, adopted every 1 second
The direct of travel Ts and corresponding acceleration standard scores vector g of robot of collectionxs0、gys0、gzs0, so can be obtained by
The parameter of 3600 groups of different directions, is recorded as 3600 groups of reference direction parameters.
Step S4）The robot is controlled in the slope plane along a default straight line path to either direction Tm
Straight-line travelling.
Step S5）Transfer from the reference direction parameter library to should direct of travel Tm standard scores vector gxm0、gym0、
gzm0Data.
Step S6）T one group of real-time directioin parameter of Real-time Collection is spaced at regular intervals, and the real-time directioin parameter includes
In real time point vector g of the gravity acceleration g on three directions of the three-dimensional system of coordinatexm1、gym1、gzm1, time interval t is
The 0.1-1.0 seconds.
Step S7）Calculate point vector of in real time point vector of the gravity acceleration g in the X-direction and standard scores vector
Difference gxd=gxm1 -gxm0 。
Step S8）Judge whether the robot is travelled along default straight line path；Work as gxdDuring equal to 0, judge described
Robot is travelled along default straight line path, return to step S6）；Work as gxdWhen being not equal to 0, judge that the robot deviates default
Straight line path.
As gravity acceleration g of the robot 100 in slope plane 300 is a definite value, when robot 100 is on slope
When running in plane 300, direct of travel Ts and direction acceleration point vector data gxs、gys、gzsShould be and standard database
In reference direction parameter be consistent.In the present embodiment, judge robot whether straight-line travelling, be substantially exactly to judge machine
The small deviation whether device people occurs to the left or to the right relative to straight line course, therefore only need to judge gravity acceleration g
Whether point vector in real time in the X-direction is vectorial with standard scores and identical, identical just without departing from different just to send out
It is raw to deviate, it is possible to further according to a point vector differentials gxd=gxm1 -gxm0It is that positive number or negative are gone back to judge to be deviated to the left
It is to be deviated to the right.
Further, the present embodiment additionally provides another kind of robot straight-line travelling decision method in the plane of slope,
Above-mentioned steps S8）Judge that the robot can also comprise the steps after deviateing default straight line path：Step S9）Utilize
One Magnetic Sensor obtains real-time direct of travel Tn；Step S10）The real-time direct of travel Tn and direct of travel Tm is compared,
If the two is consistent, judge that the robot is travelled along default straight line path, return to step S6）；If the two is inconsistent,
Judge that the robot deviates default straight line path.In the case where previous judgement robot deviates straight line path, which is entered
The secondary judgement of row, to avoid the occurrence of accident so that judged result is more accurate.
After control system 4 finds that robot ride route shifts, it is necessary to which the very first time corrects it so that machine
Device people can return to as early as possible should route, and this process is properly termed as school and processes partially.In order to solve how to control the robot
The technical problem of straight-line travelling in the plane of slope, present embodiments provides a kind of straight-line travelling control in the plane of slope of robot
Method processed, may include steps of.
Step S11）According to hereinbefore step S1）-S8）Or step S1）-S10）Described robot is in the plane of slope
Whether straight-line travelling decision method is travelled along default straight line path judging a robot；If the robot deviates default
Straight line path, execution step S12）.
Step S12）Control the robot to deflect to the Tm directions in the process of moving；Specifically include following steps：
Step S121）Actual direction of travel Tn corresponding with the real-time directioin parameter is transferred in reference direction parameter library；Step S122）
Calculating the robot needs the yawing moment and deflection angle of adjustment；The deflection angle be actual direction of travel Tn with
The angle angle of default direct of travel Tm；Step S123）The yawing moment and deflection angle of adjustment are needed according to the robot,
A direction adjust instruction is sent to dynamical system 3, the robot is controlled and is deflected to the left or to the right.
Step S13）The robot is controlled in the slope plane along Tm directions straight-line travelling；Return to step
S11）.
Wherein, the decision method of robot straight-line travelling in the plane of slope, such as step S1）-S8）, or step
S1）-S10）, can be in very short time according to one group of acceleration information（And magnetic sensor data）Quickly judge car body oblique
Whether straight-line travelling on slope；As acceleration transducer can will gather one group of number at set intervals with real-time data collection
According to；Therefore, above-mentioned decision process is also periodically will to judge once at set intervals.No matter when robot is found（Car
Body）During in the plane of slope, direct route is deviate from, can judge that now robot occurs to deviate.
Wherein, the control method of robot straight-line travelling in the plane of slope, such as step S11）~ step S13）, it is
Based on aforesaid robot in the plane of slope straight-line travelling decision technology, when confirm robot occur deviate after, when first
Between adjust robot direct of travel so as to be returned on former directive path.
In this utility model, robot decision method of straight-line travelling in the plane of slope is existed with the robot
In the plane of slope, the control method of straight-line travelling is used cooperatively, it can be ensured that sweeping robot will not be sent out during straight-line travelling
It is raw to deviate, such that it is able to guarantee that sweeping robot can be gone within the shortest time along optimization guidance path set in advance
Whole solar panel is cleaned up by whole solar panel faster and betterly.
According to the principle that the time is most short, driving path is most short, optimization guidance path of the robot in a rectangular slope is very
Easily can just plan and calculate, control system can allow robot along optimization guidance path row set in advance
Sail.
In the present embodiment, data acquisition unit 41 can also include an at least range sensor 413, including but not limited to
Ultrasonic sensor and light pulse sensor.Range sensor 413 is arranged at robot 100（Car body 1）At external margin, specifically
Ground say, car body 1 can be arranged on（Vehicle body 11）Four angles on, as shown in Fig. 2 when robot 100 it is up in a rectangular slope
When sailing, 413 front end of range sensor is towards rectangular slope direction.Range sensor 413 is connected to processor 42；To adopt in real time
The range data of collection range sensor 413 and rectangular slope；Processor 42 is according to range sensor 413 and the rectangular slope
Range data, judges whether car body 1 is located at edge or the corner of the rectangular slope.
In the present embodiment, 413 number of range sensor is four, is respectively arranged at robot（Car body）Four corners
Place；When only two range sensors 413 can collect the range data, processor 42 judges robot（Car body）It is located at
The edge of rectangular slope 300, sends an at least steering order to dynamical system 3（U-shaped is turned round）；When only one of which Distance-sensing
When device collects the range data, the processor judges robot（Car body）Positioned at a certain corner of rectangular slope 300,
An at least steering order is sent to dynamical system 3（90 degree are turned or U-shaped revolution）.Four range sensors 413 can also be respectively
The middle part of 1 each side of car body is arranged at, processor finds that the range sensor 413 on a certain side cannot be collected apart from number
According to when, it is possible to judge this side be located at rectangular slope edge；If two adjacent sides all be located at rectangle it is oblique
Slope edge, it is possible to judge that car body 1 is located at a certain corner of solar panel.413 number of range sensor can also be
Eight, it is respectively arranged at the middle part of the 1 four direction side of four corners or car body of car body 1.
Control system 4 can also include an enumerator 414, to calculate the angle that car body 1 is passed through in slope plane traveling
Fall, in the one action of robot, when processor 42 judges that car body reaches a certain corner, just add on enumerator
One.Processor 42 is apparent that the order in the corner of the arrival of car body 1 by the technical result that enumerator 414 feeds back（The
Several corners）.
Staff is in advance by the memorizer of the path optimizing typing planned to control system 4, the processor root
According to the guidance path and robot（Car body）Real time position to dynamical system 3 send control instruction, including start, stop,
Straight trip, to the left or to the right 90 degree of turnings, U-shaped revolutions to the left or to the right（Go to turning through 180 degree on adjacent lane）, to control car
Body is travelled according to guidance path in traveling.
Data acquisition unit 41 also includes a liquid level sensor 259, is connected to processor 42, for Real-time Collection liquid point
The liquid level data in container 25 is sent out, in clearing apparatus work, control system 4 can be according to real-time in liquid distributing container 25
Liquid level data sends 28 control signal of an at least suction pump to suction pump 28 to start or stop the operation of suction pump 28, or control
Liquid mass rate of emission processed.For example, when the real-time level data in liquid distributing container 25 are reduced to a predetermined threshold value, control system
System 4 can send 28 deceleration instruction of a suction pump, and control suction pump 28 slows down speed of drawing water；Reality in liquid distributing container 25
When liquid level data when bottoming out, or, when control system 4 sends a car body halt instruction, control system 4 can be sent out
Go out 28 halt instruction of a suction pump, control suction pump 28 is out of service.
Control system 4 also includes an at least alarm unit 44, is connected to processor 42, and alarm unit 44 can be to be arranged on
A red light or buzzer outside car body.When a certain running parameter exceedes given threshold, the alarm unit sends alarm signal
Number, for example, when the liquid level data in liquid distributing container 25 is less than a certain predetermined threshold value, or work as 5 electric power of power system not
When sufficient, or when the sweeping robot sends failure, alarm unit 44 can send alarm signal to remind user.
Data acquisition unit 41 includes at least an image sensor 415 or photographic head, is connected to processor 42, is arranged at car
1 front end of body（As shown in Figure 2 and Figure 3）, to gather the image in 1 traveling process of car body in front of car body 1, these images can be deposited
Store up to the memory element and check the working condition of robot in order to staff.
In the present embodiment, control system 4 has technical effect that, there is provided various clean robots are up in solar panel
The control method that the path optimizing and robot for entering is advanced in slope plane and straight line, it is ensured that robot not repeatedly can pass by
Whole spaces of solar panel, area coverage are big, will not fall from solar panel edge, both can ensure that cleaning effect
Really, work efficiency is can ensure that again.
Solar panel sweeping robot 100 can also include an at least wireless communication unit 45, be wirelessly connected to clothes
Business device 400, communicates for setting up between solar panel sweeping robot 100 and server 400.Image in front of car body 1
Can send in real time to server 400, sweeping robot effectively checking in the progress of work is realized in order to staff, had
When in effect solution prior art, solar panel is located at eminence, sweeping robot difficult technology of Working Status Monitoring on panel
Problem.
In the present embodiment, as shown in figure 3, power system 5 be one or one group be arranged in battery case 51 it is disposable
Battery or rechargeable battery（It is not shown）, need staff periodically to remove the sweeping robot from solar panel,
Which is carried out to change Battery disposal or charging process so as to can work on.
The present embodiment provides a kind of solar panel sweeping robot, can the free-running operation on solar panel, effectively
The dust and other attachments on panel is removed, clean effect is good；Sweeping robot of the present utility model is in solar panel
In upper running, according to the path optimizing traveling of setting, can not repeatedly cover plate whole spaces, work efficiency
It is high；Sweeping robot of the present utility model can be turned according to Automatic Program or be reversed end for end, and realize automatically controlling, easy to operate.
The above is only preferred implementation of the present utility model, it is noted that for the common skill of the art
Art personnel, on the premise of without departing from this utility model principle, can also make some improvements and modifications, these improvements and modifications
Also should be regarded as protection domain of the present utility model.
Claims (10)
1. a kind of solar panel sweeping robot dynamical system, it is characterised in that include
One car body, travels on an at least solar panel or resident；
One the near front wheel, installed in the left side that the car body bottom surface is anterior, including
One left front wheel hub；And
One left front wheel shaft, is arranged at the left front wheel hub center；
One off-front wheel, installed in the right side in portion in face of the car body, including
One off-front wheel hub；And
One front right axle, is arranged at the off-front wheel hub center；
One left driving motor, installed in the vehicle bottom, including
One left drive shaft, is connected to the left front wheel shaft, to control the rotating speed and direction of rotation of described the near front wheel；
One right driving motor, installed in the vehicle bottom, including
One right drive shaft, is connected to the front right axle, to control rotating speed and the direction of rotation of the off-front wheel；
One left rear wheel, installed in the left side that the car body bottom surface is anterior, including
One left back wheel hub, with the left front wheel hub on same straight line；
One left back wheel shaft, is arranged at the left back wheel hub center；
One off hind wheel, installed in the right side that the car body bottom surface is anterior, including
One off hind wheel hub, with the off-front wheel hub on same straight line；
One off hind wheel axle, is arranged at the off hind wheel hub center；The off hind wheel is pivotally connected to the left back wheel shaft；And
Two crawler belts, are all a flexible chain link, and a wherein crawler belt is coated on the left front wheel hub, the annular side of the left back wheel hub
Outside wall；Another crawler belt is coated on outside the off-front wheel hub, the annular sidewall of the off hind wheel hub.
2. solar panel sweeping robot dynamical system as claimed in claim 1, it is characterised in that also including a control
System, is respectively connecting to the left driving motor, the right driving motor, and the control system is to the left driving motor, institute
State right driving motor and send an at least control instruction, control the left driving motor, the rotating speed of the right driving motor and rotation
Direction, and then adjust described the near front wheel, the rotating speed of the off-front wheel and direction of rotation.
3. solar panel sweeping robot dynamical system as claimed in claim 1, it is characterised in that also include
At least wheel hub gear teeth, be uniformly arranged on the left front wheel hub, the left back wheel hub, the off-front wheel hub, it is described the right side after
The annular sidewall outer surface of wheel hub；
An at least crawler belt internal tooth, is uniformly arranged on the interior side-wall surface of the crawler belt, the crawler belt internal tooth and the wheel hub gear teeth
Engagement；And
An at least non-slipping block, protrudes from the lateral wall of two crawler belts；Or, an at least anti-skid design is recessed in two crawler belts
Lateral wall.
4. solar panel sweeping robot dynamical system as claimed in claim 3, it is characterised in that also carry out including at least
Band tensioner；Including
Transmission belt on one, which is the crawler belt top, and its lower surface is provided with an at least crawler belt internal tooth；
One lower drive belts；Which is the crawler belt bottom, and its upper surface is provided with an at least crawler belt internal tooth；
Tensioned portion on one, its upper end leukorrhagia plane tangent or are engaged with the upper transmission, to be tensioned the upper transmission belt；
Once compressed part, its lower end are tangent with the lower drive belts upper surface, to compress the lower drive belts；
One resilient support portion, its one end are connected to the upper tensioned portion, and its other end is connected to the lower compressed part, to support
The upper tensioned portion and the lower compressed part.
5. solar panel sweeping robot dynamical system as claimed in claim 4, it is characterised in that the crawler tensioning dress
Putting also includes
Two crawler belt side plates, are arranged at the both sides of the crawler belt；
An at least waist-shaped hole, vertical is located at the top of the crawler belt side plate；
An at least installation axle, each installation axle two ends slide up and down formula and are arranged in two relative waist-shaped holes, two waist-shaped holes
It is located on two crawler belt side plates respectively.
6. solar panel sweeping robot dynamical system as claimed in claim 4, it is characterised in that the crawler tensioning dress
Putting also includes
One crawler belt side plate, is arranged at the side of the crawler belt；
An at least waist-shaped hole, vertical is located at the top of the crawler belt side plate；
An at least installation axle, each installation axle one end slide up and down formula and are arranged in a waist-shaped hole.
7. the solar panel sweeping robot dynamical system as described in claim 5 or 6, it is characterised in that
The installation axle includes an at least gear mounting shaft；
The upper tensioned portion includes
An at least Tension gear, each Tension gear are attached on a gear mounting shaft by a rolling bearing, its upper end and institute
State the engagement of transmission leukorrhagia surface.
8. solar panel sweeping robot dynamical system as claimed in claim 7, it is characterised in that
The installation axle also includes an at least drive installation axle；
The upper tensioned portion also includes
At least one tensioning drive, each tensioning drive is attached in a drive installation axle by a rolling bearing, its with
The Tension gear is tangent or engages；
One " V " shape frame, its top are respectively arranged at two ends with a drive installation axle, are provided with gear peace above the " V " shape frame
Dress axle；
Wherein, the gear mounting shaft is parallel with the drive installation axle, and the gear mounting shaft is positioned at two drive peaces
The top of dress axle middle.
9. solar panel sweeping robot dynamical system as claimed in claim 7, it is characterised in that
The upper tensioned portion also includes
One " V " shape frame, its top is respectively arranged at two ends with a gear mounting shaft.
10. solar panel sweeping robot dynamical system as claimed in claim 5, it is characterised in that
The lower compressed part includes at least one tensioning pressing plate, tangent with the lower drive belts upper surface；
The resilient support portion includes
One " ∧ " shape elastic component, the corner on its top are connected to the upper tensioned portion lower end, and the two ends of its underpart connect respectively
To a tensioning pressing plate.
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| CN201621066827.3U CN206031039U (en) | 2016-09-21 | 2016-09-21 | Solar panel cleans machine people driving system |
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| CN201621066827.3U CN206031039U (en) | 2016-09-21 | 2016-09-21 | Solar panel cleans machine people driving system |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106183766A (en) * | 2016-09-21 | 2016-12-07 | 苏州瑞得恩自动化设备科技有限公司 | Solar panel sweeping robot dynamical system |
| WO2018053980A1 (en) * | 2016-09-21 | 2018-03-29 | 苏州瑞得恩光能科技有限公司 | Crawler tensioning device and crawler traveling device |
| CN108023541A (en) * | 2017-12-15 | 2018-05-11 | 吕刚 | A kind of solar energy photovoltaic panel with automatic cleaning function |
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2016
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106183766A (en) * | 2016-09-21 | 2016-12-07 | 苏州瑞得恩自动化设备科技有限公司 | Solar panel sweeping robot dynamical system |
| WO2018053980A1 (en) * | 2016-09-21 | 2018-03-29 | 苏州瑞得恩光能科技有限公司 | Crawler tensioning device and crawler traveling device |
| US10300968B2 (en) | 2016-09-21 | 2019-05-28 | Suzhou Radiant Photovoltaic Technology Co., Ltd | Track tension device and track moving device |
| CN108023541A (en) * | 2017-12-15 | 2018-05-11 | 吕刚 | A kind of solar energy photovoltaic panel with automatic cleaning function |
| CN108023541B (en) * | 2017-12-15 | 2019-06-07 | 广西丰冠新能源科技有限公司 | A kind of solar energy photovoltaic panel with automatic cleaning function |
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