CN209666768U - Solar energy cleaning machine self-level(l)ing device - Google Patents
Solar energy cleaning machine self-level(l)ing device Download PDFInfo
- Publication number
- CN209666768U CN209666768U CN201920530475.XU CN201920530475U CN209666768U CN 209666768 U CN209666768 U CN 209666768U CN 201920530475 U CN201920530475 U CN 201920530475U CN 209666768 U CN209666768 U CN 209666768U
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- CN
- China
- Prior art keywords
- leveling cyclinder
- vehicle body
- cleaning machine
- solar energy
- cyclinder
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- 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.)
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Abstract
The utility model provides a kind of solar energy cleaning machine self-level(l)ing device, including vehicle body, chassis, electronic controller and fluid pressure line, the vehicle body is coupled by universal hinging joint, left leveling cyclinder, right leveling cyclinder with chassis, the vehicle body is equipped with obliquity sensor, the electronic controller receives obliquity sensor signal and controls left leveling cyclinder by fluid pressure line, right leveling cyclinder acts, to realize the adjusting of body gesture.The utility model is in configuration aspects, the leveling of any direction in horizontal plane can be realized by 2 leveling cyclinders that universal joint, longitudinal direction of car axisymmetrical are arranged, to guarantee that cleaning machine in the process of walking, is able to carry out automatic leveling, guarantee the cleaning effect of solar energy photovoltaic panel.
Description
Technical field
The utility model relates generally to engineering truck correlative technology field, and specifically solar energy cleaning machine automatic leveling fills
It sets.
Background technique
Photovoltaic solar power station mostly arranges in a matrix fashion, and array is in a certain angle with ground, and there are channels between array.Row
The formula cleaning machine of walking is generally on a passage using the cleaning way completion washing and cleaning operation in walking.Cleaning device requires and the sun
Energy plate array is in parallel orientation.Cleaning device is connect with vehicle body platform by cantilever crane, in cleaning, cleaning dress
The posture set is manipulated by the oil cylinder on cantilever crane.Vehicle body platform requires to be adjusted in real time according to the actual state on road surface, with
Keep the levelness of vehicle body platform.In traveling operation, vehicle body run-off the straight, shadow can be made when encountering some rugged and rough roads
Cleaning effect is rung, the accidents such as cleaning device damage solar panels are resulted even in.
Utility model content
For the deficiency for solving current technology, the utility model combination prior art provides one kind too from practical application
Positive energy cleaning machine self-level(l)ing device can make cleaning machine that automatic leveling may be implemented under various uneven road conditions.
The technical solution of the utility model is as follows:
Solar energy cleaning machine self-level(l)ing device, including vehicle body, chassis, this levelling device further include electronic controller and liquid
Pressure pipe road, the vehicle body are coupled with chassis by universal hinging joint, left leveling cyclinder, right leveling cyclinder, are set on the vehicle body
There is obliquity sensor, the electronic controller receives obliquity sensor signal and controls left leveling cyclinder, the right side by fluid pressure line
Leveling cyclinder movement, to realize the adjusting of body gesture.Obliquity sensor, being capable of real-time monitoring vehicle body when cleaning machine is walked
Posture, and by controlling left leveling cyclinder, the adjustment of body gesture is realized in the movement of right leveling cyclinder, guarantee energy when vehicle driving
It is enough to be in equilibrium state always, conducive to the washing and cleaning operation to photovoltaic solar panel.
The left leveling cyclinder, right leveling cyclinder are on the longitudinal axis of universal hinging joint relative to universal hinging joint pair
Claim setting, the left leveling cyclinder, right leveling cyclinder, universal hinging joint are in isosceles triangle arrangement in the horizontal plane, universal
Articulation joint is located at vertex position.
The left leveling cyclinder, right leveling cyclinder bottom and chassis are articulated and connected, the work of left leveling cyclinder, right leveling cyclinder
Stopper rod and vehicle body are articulated and connected, and the both ends of universal hinging joint transverse axis are fixed on chassis by bearing block, longitudinal
The both ends of axis are fixed on vehicle body by bearing block.By the supported at three point of setting, the installation of solar energy cleaning machine is simplified
Structure, while free control can be carried out to body gesture.
Displacement sensor is equipped in the left leveling cyclinder, right leveling cyclinder.By the detection data of position sensor,
Oil cylinder can be formed and effectively be controlled, achieve the purpose that accurately to adjust body gesture.
The fluid pressure line includes the master control proportioning valve connecting with hydraulic pump, single control proportioning valve, wherein master control proportioning valve
Output oil port A1 is connect by the first master control hydraulic lock with left leveling cyclinder, and the output oil port B1 of master control proportioning valve is total by second
Control hydraulic lock is connect with right leveling cyclinder, and single control proportioning valve is connect through single control hydraulic lock with right leveling cyclinder, and electronic controller is logical
The left leveling cyclinder of master control proportional valve control, right leveling cyclinder simultaneously operation are crossed, the right leveling cyclinder list of single control proportional valve control is passed through
Solely movement.It is alternately performed movement by two groups of proportioning valves, leveling cyclinder is avoided and interferes problem in execution movement.
The utility model has the beneficial effects that
1, the utility model, can by 2 leveling cyclinders that universal joint, longitudinal direction of car axisymmetrical are arranged in configuration aspects
It realizes the leveling of any direction in horizontal plane, to guarantee cleaning machine in the process of walking, is able to carry out automatic leveling, guarantees too
The cleaning effect of positive energy photovoltaic panel.
2, for the utility model in terms of control, 2 groups of proportioning valves are alternately performed movement, avoid 2 leveling cyclinders and are executing
Problem is interfered when movement.
3, the utility model, using 3 points of supports between vehicle body platform and vehicle chassis, simplifies solar energy in terms of support
The mounting structure of cleaning machine controls conducive to the automatic leveling of vehicle body.
Detailed description of the invention
Fig. 1 is the hydraulic schematic diagram of the utility model levelling device.
Fig. 2 is the transversely and horizontally structural schematic diagram of the utility model levelling device.
Fig. 3 is the right leveling schematic diagram of the utility model levelling device.
Fig. 4 is the left leveling schematic diagram of the utility model levelling device.
Fig. 5 is the vertical equity structural schematic diagram of the utility model levelling device.
Fig. 6 is the utility model levelling device upward slope leveling schematic diagram.
Fig. 7 is the utility model levelling device descending leveling schematic diagram.
Label shown in attached drawing:
1, vehicle body, 2, universal hinging joint, 3, chassis, 4, piston rod, 5, cylinder body, 6, left leveling cyclinder, 7, right leveling oil
Cylinder, the 8, first master control hydraulic lock, 9, obliquity sensor, the 10, second master control hydraulic lock, 11, single control hydraulic lock, 12, bearing block,
13, master control proportioning valve, 14, single control proportioning valve, 15, hydraulic pump, 16, pressure-gradient control valve.
Specific embodiment
With reference to the drawings and specific embodiments, the utility model is described in further detail.It should be understood that these embodiments are only used for
Illustrate the utility model rather than limitation the scope of the utility model.In addition, it should also be understood that, having read the utility model instruction
Content after, those skilled in the art can make various changes or modifications the utility model, and such equivalent forms are equally fallen
In range defined herein.
As shown in Fig. 1~7, a kind of vehicle body Universal leveling device, comprising: vehicle body 1,3 universal hinging joint 2 of chassis, leveling
Oil cylinder, master control proportioning valve 13, single control proportioning valve 14, electronic controller, obliquity sensor 9 etc..The vehicle body 1 of the utility model and bottom
Disk 3 is connected by universal hinging joint 2, and the both ends of 2 longitudinal axis of universal hinging joint pass through bearing block 12 respectively and are fixed on vehicle
On body 1, the both ends of 2 transverse axis of universal hinging joint pass through bearing block 12 respectively and are fixed on chassis 3, and leveling cyclinder includes a left side
Leveling cyclinder 6, right leveling cyclinder 7, left leveling cyclinder 6 and right leveling cyclinder 7 on 2 transverse axis of universal hinging joint relative to
Universal hinging joint 2 is symmetrical arranged, and left leveling cyclinder 6, right leveling cyclinder 7, universal hinging joint 2 are in isosceles three in the horizontal plane
Angular, universal hinging joint 2 is located at vertex position.Piston rod 4 and displacement are equipped in left leveling cyclinder 6 and right leveling cyclinder 7
Sensor, left leveling cyclinder 6 and right leveling cyclinder 7 and chassis 3 are hinged, and piston rod 4 and vehicle body 1 are hinged, are equipped with and incline on vehicle body 1
Angle transducer 9, obliquity sensor 9 detects the vertical and horizontal differential seat angle of vehicle body and horizontal plane, by the pitch angle and cross of vehicle body
Swinging inputs electronic controller in real time.
In the fluid pressure line of the utility model, it is load sensitive fluid pressure valve group, master control proportioning valve that electro hydraulic valve, which has two groups,
13 A1, B1 mouthfuls of output oil port respectively by the first master control hydraulic lock 8, the second master control 10 simultaneously with left leveling cyclinder 6, right leveling
Oil cylinder 7 connects, and controls left leveling cyclinder 6, right leveling cyclinder 7 moves at the same time；Single control proportioning valve 4 is through single control hydraulic lock 11 and right tune
Flat oil cylinder 7 connects, and can be controlled separately the expanding-contracting action of right leveling cyclinder 7.
The pitch angle and roll angle of 9 real-time detection vehicle of obliquity sensor, on the basis of 0 ° of level, electronic controller
Pitch angle, the roll angle, oil cylinder inbuilt displacement sensor information for detecting vehicle, carry out information of vehicles identification, when vehicle is bowed
Elevation angle degree is greater than roll angle, the closed-loop control of electronic controller pitch orientation first, and output pwm signal control controls master control ratio
Valve 13, left leveling cyclinder 6, right leveling cyclinder 7 move at the same time at this time.When vehicle roll angle is greater than pitch angle, electronics control
Device output pwm signal processed controls single control proportioning valve 14, and right leveling cyclinder 7 acts at this time, implements the leveling movement in roll direction.When
When vehicle roll angle is comparable to pitch angle, alternately output pwm signal controls master control proportioning valve 13, list to electronic controller respectively
Proportioning valve 14 is controlled, the leveling movement in roll direction, pitch orientation is alternately implemented.
Specifically, as shown in Figure 3,4, when cleaning machine is traveling in the road surface of left and right sides injustice, obliquity sensor 9 be will test
Vehicular yaw angle, after electronic controller operation, output control single control proportioning valve 14 must be electric, and master control proportioning valve 13 must not be electric, liquid
Pressure oil enters right leveling cyclinder 7 through single control hydraulic lock 11, controls vehicle body counteragent, and left leveling cyclinder 6 is hydraulic in the first master control
Under the acting in opposition for locking the 8, second master control hydraulic lock 10, attonity.
When cleaning machine climb and fall, as shown in attached drawing 6, Fig. 7, obliquity sensor 9 will test vehicle pitch angle, electronics control
After device operation processed, output control master control proportioning valve 13 it is electric, single control proportioning valve 14 must not electricity, hydraulic oil simultaneously through first total draining
Pressure the 8, second master control hydraulic lock 10 of lock enters left leveling cyclinder 6 and right leveling cyclinder 7, and it is reversed dynamic in terms of pitching to control vehicle body
Make.
When cleaning machine is walked on acclive road surface simultaneously all around, obliquity sensor 9 will test vehicle pitch
Angle and roll angle, alternately output pwm signal controls master control proportioning valve 13, single control proportioning valve 14 to electronic controller respectively, hands over
For the leveling movement for implementing cleaning machine roll direction, pitch orientation.
Claims (5)
1. solar energy cleaning machine self-level(l)ing device, including vehicle body, chassis, it is characterised in that: this levelling device further includes electronics
Controller and fluid pressure line, wherein vehicle body is coupled by universal hinging joint, left leveling cyclinder, right leveling cyclinder with chassis, institute
Vehicle body is stated equipped with obliquity sensor, the electronic controller receives obliquity sensor signal and controls left tune by fluid pressure line
Flat oil cylinder, the movement of right leveling cyclinder, to realize the adjusting of body gesture.
2. solar energy cleaning machine self-level(l)ing device as described in claim 1, packet it is characterized by: the left leveling cyclinder,
Right leveling cyclinder is symmetrical arranged on the longitudinal axis of universal hinging joint relative to universal hinging joint, the left leveling cyclinder,
Right leveling cyclinder, universal hinging joint are in isosceles triangle arrangement in the horizontal plane, and universal hinging joint is located at vertex position.
3. solar energy cleaning machine self-level(l)ing device as described in claim 1, packet it is characterized by: the left leveling cyclinder,
Right leveling cyclinder bottom and chassis are articulated and connected, and left leveling cyclinder, the piston rod of right leveling cyclinder and vehicle body are articulated and connected, described
The both ends of universal hinging joint transverse axis are fixed on chassis by bearing block, and the both ends of longitudinal axis are fixed by bearing block
In on vehicle body.
4. solar energy cleaning machine self-level(l)ing device as described in claim 1, packet it is characterized by: the left leveling cyclinder,
Displacement sensor is equipped in right leveling cyclinder.
5. wrapping such as the described in any item solar energy cleaning machine self-level(l)ing devices of Claims 1 to 4 it is characterized by: the liquid
Pressure pipe road includes the master control proportioning valve connecting with hydraulic pump, single control proportioning valve, wherein the output oil port A1 of master control proportioning valve passes through
First master control hydraulic lock is connect with left leveling cyclinder, and the output oil port B1 of master control proportioning valve passes through the second master control hydraulic lock and right tune
Flat oil cylinder connection, single control proportioning valve are connect through single control hydraulic lock with right leveling cyclinder, and electronic controller passes through master control Proportional Valve-controlled
Left leveling cyclinder, right leveling cyclinder simultaneously operation are made, the right leveling cyclinder single movement of single control proportional valve control is passed through.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920530475.XU CN209666768U (en) | 2019-04-18 | 2019-04-18 | Solar energy cleaning machine self-level(l)ing device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920530475.XU CN209666768U (en) | 2019-04-18 | 2019-04-18 | Solar energy cleaning machine self-level(l)ing device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN209666768U true CN209666768U (en) | 2019-11-22 |
Family
ID=68574329
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201920530475.XU Expired - Fee Related CN209666768U (en) | 2019-04-18 | 2019-04-18 | Solar energy cleaning machine self-level(l)ing device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN209666768U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112677131A (en) * | 2020-12-10 | 2021-04-20 | 深圳市凯之成智能装备有限公司 | Photovoltaic panel automatic paving engineering vehicle and control method thereof |
| CN115871589A (en) * | 2022-12-09 | 2023-03-31 | 贵州电网有限责任公司 | Transportation device with anti-tipping capability and method |
-
2019
- 2019-04-18 CN CN201920530475.XU patent/CN209666768U/en not_active Expired - Fee Related
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112677131A (en) * | 2020-12-10 | 2021-04-20 | 深圳市凯之成智能装备有限公司 | Photovoltaic panel automatic paving engineering vehicle and control method thereof |
| CN115871589A (en) * | 2022-12-09 | 2023-03-31 | 贵州电网有限责任公司 | Transportation device with anti-tipping capability and method |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20191122 Termination date: 20200418 |
|
| CF01 | Termination of patent right due to non-payment of annual fee |