CN208944661U - A kind of clean robot - Google Patents
A kind of clean robot Download PDFInfo
- Publication number
- CN208944661U CN208944661U CN201821114901.3U CN201821114901U CN208944661U CN 208944661 U CN208944661 U CN 208944661U CN 201821114901 U CN201821114901 U CN 201821114901U CN 208944661 U CN208944661 U CN 208944661U
- Authority
- CN
- China
- Prior art keywords
- walking mechanism
- clean robot
- walking
- driving device
- cabinet
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Classifications
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
- Y02E10/00—Energy generation through renewable energy sources
- Y02E10/50—Photovoltaic [PV] energy
Landscapes
- Manipulator (AREA)
Abstract
The utility model discloses a kind of clean robots, comprising: first walking mechanism, the second walking mechanism, elevating mechanism and cleaning agency, the elevating mechanism are connect with second walking mechanism, for driving second walking mechanism to be gone up and down；The direction of the first walking mechanism and second walking mechanism walking is mutually perpendicular to, the direction that the direction of the elevating mechanism lifting is walked perpendicular to the first walking mechanism and second walking mechanism.Pass through the cooperation of first walking mechanism, the second walking mechanism and elevating mechanism, so that robot possesses the free-moving ability on X/Y plane, and it is additionally provided with cleaning agency, it can carry out the cleaning to photovoltaic power generation plate automatically during robot is mobile, whole process is not necessarily to manual intervention, high degree of automation is conducive to large-scale promotion application.
Description
Technical field
The utility model relates to robotic technology fields, more specifically to a kind of clean robot.
Background technique
Photovoltaic power generation is obtained as novel renewable green energy resource with its powerful product technology advantage and development potentiality
More and more universal and application.The photovoltaic plant in China is mainly distributed on the ground such as Gansu, Ningxia, Qinghai, the Inner Mongol in China.
Since solar cell array is exposed to outer, the shadow that easily by sand and dust, heavy snow and sundries is covered big by surrounding environment influence
It rings, the decrease of power generation of solar panel, the service life of solar panel is caused to reduce, even burn out solar-electricity
Pond plate etc. influences, and causes extreme loss.The Major Difficulties that photovoltaic plant cleans at present are that clean and maintenance difficulty is big, at high cost,
Cleaning is not thorough, and it is long to clean the time.
Country's photovoltaic plant clean method is mainly include the following types: hand sweeping at present: cleaning means is utilized using artificial,
The mode cleaned manually is cleaned；Vehicle-mounted automatic cleaning equipment: giant, vehicle-mounted hairbrush are carried using automobile carrier
Etc. equipment, by operator control cleaning vehicle along battery panel components carry out wash cycles.
However above-mentioned clean method has that the degree of automation is low, investment human resources are big, it is difficult in light
Overhead utility carries out large-scale promotion application.
Utility model content
In view of the deficiencies of the prior art, the utility model provides a kind of clean robot, it is intended to solve in the prior art
The technical issues of low cleaning the degree of automation, a large amount of manpower and material resources of consuming are carried out to the equipment of photovoltaic plant.
A kind of clean robot provided by the utility model, comprising: first walking mechanism, the second walking mechanism, elevator
Structure and cleaning agency, the elevating mechanism are connect with second walking mechanism, for driving second walking mechanism to carry out
Lifting；
The direction of the first walking mechanism and second walking mechanism walking is mutually perpendicular to, the elevating mechanism lifting
The direction walked perpendicular to the first walking mechanism and second walking mechanism of direction.
Optionally, further includes: cabinet, the first walking mechanism, second walking mechanism, the elevating mechanism and institute
Cleaning agency is stated to be all set in the cabinet.
Optionally, the first walking mechanism is set to the two sides of the cabinet, and second walking mechanism is set to institute
State the medium position of cabinet.
Optionally, the first walking mechanism includes first driving device, the first transmission mechanism and the first traveling wheel, described
First driving device is connect by first transmission mechanism with first traveling wheel；
Second walking mechanism includes the second driving device, the second transmission mechanism and the second traveling wheel, and described second drives
Dynamic device is connect by second transmission mechanism with second traveling wheel.
Optionally, the elevating mechanism includes lifting drive and two blocks of balance plates, and every block of balance plate is set to
Between two second traveling wheels, the lifting drive is fixedly installed between two blocks of balance plates.
Optionally, the lifting drive includes third driving device and screw rod, and the screw rod and the third drive
Device connection, and the screw rod is through being fixedly installed on the intracorporal horizon bar of case.
Optionally, the elevating mechanism further includes guiding mechanism, and the guiding mechanism is tiltably set to described in two pieces
Between balance plate, and the guiding mechanism is slideably positioned between two blocks of balance plates by sliding rail.
Optionally, the cleaning agency includes fourth drive device, support plate and hairbrush, and the hairbrush is arranged by shaft
Between two pieces of support plates, the support plate is fixedly installed in the cabinet, the fourth drive device fixed setting
It is connect on the outside of the support plate and with the shaft.
Optionally, controller, the controller and the first driving device, second driving are additionally provided in cabinet
Device, the third driving device are connected with the fourth drive device, for controlling the first driving device, described respectively
Second driving device, the third driving device and fourth drive device running.
Optionally, it is additionally provided with photovoltaic power generation piece on the cabinet, is provided in the cabinet and the photovoltaic power generation piece
The power supply of connection.
As can be seen from the above technical solutions, the utility model has the following beneficial effects:
A kind of clean robot is provided in the utility model, passes through first walking mechanism, the second walking mechanism and liter
The cooperation of descending mechanism so that robot possesses the free-moving ability on X/Y plane, and is additionally provided with cleaning agency, in machine
The cleaning to photovoltaic power generation plate can be carried out during device people is mobile automatically, whole process is not necessarily to manual intervention, automates journey
Degree is high, is conducive to large-scale promotion application.
Detailed description of the invention
Below in conjunction with accompanying drawings and embodiments, the utility model is described in further detail, in attached drawing:
Fig. 1 is a kind of structural schematic diagram of clean robot provided by the embodiment of the utility model；
Fig. 2 is a kind of mobile schematic diagram of clean robot provided by the embodiment of the utility model；
Fig. 3 is a kind of another structural schematic diagram of clean robot provided by the embodiment of the utility model；
Fig. 4 is a kind of structural schematic diagram of the elevating mechanism of clean robot provided by the embodiment of the utility model；
Fig. 5 is a kind of structural schematic diagram of the cleaning agency of clean robot provided by the embodiment of the utility model；
Fig. 6 is a kind of structural schematic diagram of the cabinet of clean robot provided by the embodiment of the utility model.
Specific embodiment
In order to make the purpose of the utility model, technical solutions and advantages more clearly understood, below in conjunction with attached drawing and implementation
Example, the present invention will be further described in detail.
It should be appreciated that specific embodiment described herein is only used to explain the utility model, it is not used to limit this
Utility model.It should be noted that it can be directly another when element is referred to as " being fixed on " or " being set to " another element
On one element or it may be simultaneously present centering elements.When an element is known as " being connected to " another element, it can
To be directly to another element or may be simultaneously present centering elements.It should also be noted that, the utility model is real
Apply the positional terms such as left and right, upper and lower in example, be only each other relative concept or with the normal operating condition of product for reference
, and should not be regarded as restrictive.
As shown in Figure 1, a kind of clean robot provided by the embodiment of the utility model, comprising: first walking mechanism 1,
Two walking mechanisms 2, elevating mechanism 3 and cleaning agency 4, the elevating mechanism 3 are connect with second walking mechanism 2, are used for band
Second walking mechanism 2 is moved to be gone up and down；The direction phase of the first walking mechanism 1 and second walking mechanism 2 walking
Mutually vertical, the direction that the elevating mechanism 3 is gone up and down is perpendicular to the first walking mechanism 1 and 2 row of the second walking mechanism
The direction walked.It is understood that it is mutual that first walking mechanism 1 and the second walking mechanism 2, which drive the direction of robot ambulation,
Vertical, that is, the direction that first walking mechanism 1 and the second walking mechanism 2 are walked is the X-direction on same plane
And Y direction, and the direction that elevating mechanism 3 is gone up and down both perpendicular to X-direction and Y direction, i.e. elevating mechanism 3 is risen
The direction of drop can be regarded as Z-direction.During clean robot carries out cleaning, on clean robot first
Walking mechanism 1 operates, so that clean robot is walked along X-direction, at this point, in order to avoid the second walking mechanism 2 is cleaning
The walking process of robot generate excessive friction and cause clean robot can not normal walking, can be by being set to second
Elevating mechanism 3 in walking mechanism 2 rises the second walking mechanism 2, the second walking mechanism 2 not with plane to be cleaned (such as
Photovoltaic power generation plate) contact.When clean robot goes to the photovoltaic power generation plate end in X-axis and can not continue clean
It waits, clean robot can stop operating first walking mechanism 1, and be fallen the second walking mechanism 2 by elevating mechanism 3,
So that the second walking mechanism 2 is individually contacted with photovoltaic power generation plate.Then, the starting of the second walking mechanism 2 and one end of walking in Y-axis
Distance after stop, being continued to say that the second walking mechanism 2 rises by elevating mechanism 3 so that first walking mechanism 1 again with photovoltaic power generation
Plate contact, and continue to walk cleaning in the enterprising every trade of X-axis.Finally, by being movably walking in X-axis of first walking mechanism 1 and
Position adjustment of second walking mechanism 2 in Y-axis, allows clean robot to complete the cleaning on entire photovoltaic panel.
It should be noted that in the utility model embodiment, clean robot only moved in X-axis by setting the
One walking mechanism 1 and the second walking mechanism 2 only walked in Y-axis improve so that the control of clean robot is relatively easy
The stability and durability of clean robot, are conducive to the cleaning that clean robot carries out large-scale photovoltaic power generation plate.It needs
It should be noted that clean robot provided by the embodiment of the utility model can be also used in addition to being applied in photovoltaic power generation plate
The cleaning of the facilities such as curtain wall.
As shown in Fig. 2, Fig. 2 is the mobile schematic diagram of clean robot provided by the embodiment of the utility model.Wherein, arrow
Direction is the specific mobile route of clean robot, by first walking mechanism 1 and the second walking mechanism 2 in X-axis and Y direction
On cooperation it is mobile, entire photovoltaic power generation plate can be realized and be cleaned, without leaving blind spot, and the cleaning road of clean robot
Without the region for repeating walking in line, repetition cleaning is avoided, the efficiency of clean robot is improved.
In addition, as shown in figure 3, clean robot provided by the embodiment of the utility model can also include: cabinet 5, institute
It states first walking mechanism 1, second walking mechanism 2, the elevating mechanism 3 and the cleaning agency 4 and is all set in the case
In body 5.By the setting of cabinet 5, each mechanism inside cabinet 5 can be effectively protected, avoid dust storm dust, rain
The erosions such as water also avoid each mechanism exposure outside to each in-house.Wherein, due to first walking mechanism 1
The walking effect of clean robot is primarily served, the distance walked is longer；Second walking mechanism 2 primarily serves cleaning machine
The position corrective action of people, the distance walked is not long, is higher than the stability requirement of first walking mechanism 1 to the second row
Walk the stability requirement of mechanism 2.Therefore, the first walking mechanism 1 can be set in the two sides of the cabinet 5, and described second
Walking mechanism 2 is set to the medium position of the cabinet 5, and cleaning agency 4 can be set in the other two sides of cabinet 5, i.e., and first
Walking mechanism 1 and cleaning agency 4 are respectively arranged on 5 four edges of cabinet on symmetrical both sides, are walked by cleaning agency 4 and first
Mechanism 1 surrounds second walking mechanism 2 at middle part.
Specifically, the first walking mechanism 1 includes first driving device, the first transmission mechanism and the first traveling wheel, institute
First driving device is stated to connect by first transmission mechanism with first traveling wheel；Second walking mechanism 2 includes
Second driving device, the second transmission mechanism and the second traveling wheel, second driving device by second transmission mechanism with
The second traveling wheel connection.First walking mechanism 1 and the second walking mechanism 2 can be driven by independent driving device
Running, in order to control respectively first walking mechanism 1 and the second walking mechanism 2.Preferably, first driving device and
Two driving devices can choose direct current generator, and the driving to the first traveling wheel and the second traveling wheel is realized by the rotation of motor.
As shown in figure 4, the elevating mechanism 3 includes lifting drive and two blocks of balance plates 31, every block of balance plate
31 are set between two second traveling wheels, the lifting drive be fixedly installed on two blocks of balance plates 31 it
Between.Usually, four the second traveling wheels can be set, connected between every two traveling wheel by wheel shaft, and balance plate
31 can be set in being in the same plane and without between two the second traveling wheels of wheel axis connection, by balance plate 31 and
Four the second traveling wheels can be connected as one, in order to which lifting drive upgrades the second traveling wheel by the effect of wheel shaft.
Wherein, the lifting drive may include third driving device 32 and screw rod 33, and the screw rod 33 drives with the third
Device 32 connects, and the screw rod 33 is through there is the horizon bar being fixedly installed in cabinet 5.Since horizon bar is fixedly installed on case
In body 5, the screw hole cooperated with screw rod 33 can be equipped on horizon bar, one end of screw rod 33 connects third driving device 32, another
End then passes through the screw hole on horizon bar.When third driving device 32 operate and drive screw rod 33 rotate when, screw rod 33 rotation and by
In the engagement of the screw hole on screw rod 33 and horizon bar, 33 relative level bar of screw rod is moved in a straight line, i.e., far from horizon bar or
Close to horizon bar.It is understood that since one end of screw rod 33 connects third driving device 32, and third driving device 32 is solid
Surely be set between balance plate 31, during screw rod 33 does straight line elevating movement, while drive third driving device 32 with
And balance plate 31 does straight line elevating movement, that is, the second traveling wheel is driven to do straight line elevating movement, so that the second traveling wheel can be with
It is gone up and down on Z axis.
Further, in order to keep the balance of the second traveling wheel entire clean robot in lifting process, the lifting
Mechanism 3 can also include guiding mechanism 34, and the guiding mechanism 34 is tiltably set between two blocks of balance plates 31, and
The guiding mechanism 34 is slideably positioned between two blocks of balance plates 31 by sliding rail.Wherein, it can be set between balance plate 31
It is equipped with guide rail, guiding mechanism 34 is set on guide rail and can slidably reciprocate between balance plate 31 to adjust Support Position, this
Outside, guiding mechanism 34 itself can also turn an angle.In the lifting process of the second traveling wheel, screw rod 33 drives with third
Dynamic device 32 does straight line elevating movement, and third driving device 32 is set to the side of balance plate 31, and the other side is provided with guiding
Mechanism 34, in the plane of out-of-flatness, guiding mechanism 34 can slide on guide rail and voluntarily adjustment turns under gravity
Dynamic angle so that guiding mechanism 34 can keep the degree of balance with the screw rod 33 of the other side, allow the second traveling wheel simultaneously
It rises or falls, is i.e. the two sides of balance plate 31 are in same level height, ensure that the steady lifting of the second traveling wheel.
It can be a kind of structure of the cleaning agency of clean robot provided by the embodiment of the utility model refering to Fig. 5, Fig. 5
Schematic diagram.The cleaning agency 4 includes fourth drive device 41, support plate 42 and hairbrush 43, and the hairbrush 43 passes through shaft 44
It is set between two pieces of support plates 42, the support plate 42 is fixedly installed in the cabinet 5, the fourth drive device
41 are fixedly installed on 42 outside of support plate and connect with the shaft 44.Wherein, two pieces of support plates 42 are played to shaft
44 supporting role, shaft 44 are set between support plate 42, and are leant out outside support plate 42 through support plate 42, the 4th driving
Device 41 is set to the outside of support plate 42 and connect with shaft 44, drives shaft 44 to rotate by rotation, so that being set to
Hairbrush 43 in shaft 44 can continue rotation to carry out the cleaning of dust, dirt.
Further, controller, the controller and the first driving device, described second are additionally provided in cabinet 5
Driving device, the third driving device are connected with the fourth drive device, for control respectively the first driving device,
Second driving device, the third driving device and fourth drive device running.Wherein, controller can be controlled individually
Each driving device is made to be operated, for example, when controlling first driving device and fourth drive device operates, i.e., first
When walking mechanism 1 and cleaning agency 4 work, it can control the second driving device and third driving device stop working, i.e.,
Second walking mechanism 2 and elevating mechanism 3 are inoperative, to save power supply.Similarly, when the second driving device of control and third driving dress
When setting running, it can control first driving device and fourth drive device stop working.
It can be a kind of structural representation of the cabinet of clean robot provided by the embodiment of the utility model refering to Fig. 6, Fig. 6
Figure.It is additionally provided with photovoltaic power generation piece 6 on the cabinet 5, the confession connecting with the photovoltaic power generation piece 6 is provided in the cabinet 5
Power supply.Since the local illumination of clean robot work is sufficient, photovoltaic power generation piece 6 is set on the outside of cabinet 5,
Clean robot may be implemented to charge while working, effectively increase the cruising ability of power supply.
The embodiments of the present invention are described above in conjunction with attached drawing, but the utility model is not limited to
The specific embodiment stated, the above mentioned embodiment is only schematical, rather than restrictive, this field it is common
Technical staff is not departing from the utility model aims and scope of the claimed protection situation under the enlightenment of the utility model
Under, many forms can be also made, these are belonged within the protection of the utility model.
Claims (10)
1. a kind of clean robot characterized by comprising first walking mechanism, the second walking mechanism, elevating mechanism and cleaning
Mechanism, the elevating mechanism are connect with second walking mechanism, for driving second walking mechanism to be gone up and down；
The direction of the first walking mechanism and second walking mechanism walking is mutually perpendicular to, the side of the elevating mechanism lifting
To the direction walked perpendicular to the first walking mechanism and second walking mechanism.
2. clean robot according to claim 1, which is characterized in that further include: cabinet, the first walking mechanism,
Second walking mechanism, the elevating mechanism and the cleaning agency are all set in the cabinet.
3. clean robot according to claim 2, which is characterized in that the first walking mechanism is set to the cabinet
Two sides, second walking mechanism is set to the medium position of the cabinet.
4. clean robot according to claim 2, which is characterized in that the first walking mechanism includes the first driving dress
It sets, the first transmission mechanism and the first traveling wheel, the first driving device pass through first transmission mechanism and the first row
Walk wheel connection；
Second walking mechanism includes the second driving device, the second transmission mechanism and the second traveling wheel, the second driving dress
It sets and is connect by second transmission mechanism with second traveling wheel.
5. clean robot according to claim 4, which is characterized in that the elevating mechanism include lifting drive and
Two blocks of balance plates, every block of balance plate are set between two second traveling wheels, and the lifting drive fixation is set
It is placed between two blocks of balance plates.
6. clean robot according to claim 5, which is characterized in that the lifting drive includes third driving dress
It sets and screw rod, the screw rod is connect with the third driving device, and the screw rod is through being fixedly installed on the intracorporal water of case
Flat bar.
7. clean robot according to claim 5 or 6, which is characterized in that the elevating mechanism further includes guiding mechanism,
The guiding mechanism is tiltably set between two blocks of balance plates, and the guiding mechanism is slideably positioned in by sliding rail
Between two blocks of balance plates.
8. clean robot according to claim 6, which is characterized in that the cleaning agency include fourth drive device,
Support plate and hairbrush, the hairbrush are set between two pieces of support plates by shaft, and the support plate is fixedly installed on institute
It states in cabinet, the fourth drive device is fixedly installed on the outside of the support plate and connect with the shaft.
9. clean robot according to claim 8, which is characterized in that be additionally provided with controller, the control in cabinet
Device is connect with the first driving device, second driving device, the third driving device and the fourth drive device,
For controlling the first driving device, second driving device, the third driving device and the 4th driving respectively
Device running.
10. clean robot according to claim 2, which is characterized in that photovoltaic power generation piece is additionally provided on the cabinet,
The power supply connecting with the photovoltaic power generation piece is provided in the cabinet.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821114901.3U CN208944661U (en) | 2018-07-15 | 2018-07-15 | A kind of clean robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821114901.3U CN208944661U (en) | 2018-07-15 | 2018-07-15 | A kind of clean robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN208944661U true CN208944661U (en) | 2019-06-07 |
Family
ID=66731948
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201821114901.3U Active CN208944661U (en) | 2018-07-15 | 2018-07-15 | A kind of clean robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN208944661U (en) |
-
2018
- 2018-07-15 CN CN201821114901.3U patent/CN208944661U/en active Active
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN105680789B (en) | A kind of solar panel automatic sweeping system | |
| CN105149253A (en) | Solar cell panel cleaning device and system | |
| CN105703703B (en) | Solar panel automatic cleaning device | |
| US20210140682A1 (en) | Dust removal device for solar panel | |
| CN208787009U (en) | Photovoltaic panel wind energy dust-extraction unit | |
| CN105689302B (en) | A kind of solar panel automatic cleaning device | |
| CN205234409U (en) | High -efficient wall cleaning robot | |
| CN205490378U (en) | Automatic equipment that cleans of solar cell panel | |
| CN104868833A (en) | Cleaning device for photovoltaic power station | |
| CN205289052U (en) | Intelligence photovoltaic scavenging machine | |
| CN109261559A (en) | A kind of solar panel cleaning robot | |
| CN104259121A (en) | Ash removing device for photovoltaic module | |
| CN204906301U (en) | Clean robot system of solar cell panel | |
| CN112275689A (en) | Distributed photovoltaic power station operation and maintenance robot and cleaning method | |
| CN205725618U (en) | Solar panel automatic cleaning device | |
| CN208739824U (en) | Pig house automatic intelligent descaling machine | |
| CN208944661U (en) | A kind of clean robot | |
| CN105690404A (en) | Manipulator device at tail end of double-foot robot for power transmission line | |
| CN108856019A (en) | A kind of photovoltaic solar panel cleaning robot | |
| CN205701562U (en) | A kind of solar panel automatic cleaning device | |
| CN206415399U (en) | Cleaning equipment and photovoltaic module cleaning systems | |
| CN110841941B (en) | Automatic reversing photovoltaic cell cleaning robot and use method | |
| CN204615743U (en) | A kind of photovoltaic plant cleaning device | |
| CN209531496U (en) | A kind of solar panel cleaning robot | |
| CN218902804U (en) | Lightweight photovoltaic cleaning robot |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant |