CN211070998U - Photovoltaic cleaning robot with from flexible rotatory sucking disc subassembly - Google Patents
Photovoltaic cleaning robot with from flexible rotatory sucking disc subassembly Download PDFInfo
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- CN211070998U CN211070998U CN201922044234.7U CN201922044234U CN211070998U CN 211070998 U CN211070998 U CN 211070998U CN 201922044234 U CN201922044234 U CN 201922044234U CN 211070998 U CN211070998 U CN 211070998U
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
- Y02E10/00—Energy generation through renewable energy sources
- Y02E10/50—Photovoltaic [PV] energy
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Abstract
The utility model relates to a photovoltaic cleaning machines people with from flexible rotatory sucking disc subassembly, photovoltaic cleaning machines people includes the fuselage, be provided with actuating mechanism on the fuselage and clean the mechanism, clean the mechanism and carry out cleaning operation on the cleaning operation plane under actuating mechanism's drive, the chassis intermediate position of fuselage is provided with from flexible rotatory sucking disc subassembly, cleaning machines people is when turning on the cleaning operation plane, adsorb on the cleaning operation plane through from flexible rotatory sucking disc subassembly, from flexible rotatory sucking disc subassembly including link assembly, sliding support subassembly, sucking disc connecting rod linking bridge, a bearing, the slip ring subassembly, sucking disc fixed bolster and sucking disc. The utility model discloses can make photovoltaic cleaning machines people can not the landing when the photovoltaic array of different gradients turns, provide the guarantee for photovoltaic cleaning machines people's continuous operation, still can simplify photovoltaic cleaning machines people's sucker structure simultaneously, improve photovoltaic cleaning machines people's efficiency and suitability.
Description
Technical Field
The embodiment of the utility model provides a technical field of track, concretely relates to photovoltaic cleaning robot with from flexible rotatory sucking disc subassembly.
Background
Along with the inclined plane that the manual work is inconvenient to clean, like the increase of operating modes such as building wall, glass roof and photovoltaic power plant's photovoltaic panel, the design of the automatic equipment that cleans of inclined plane is more and more paid attention to. The photovoltaic cleaning robot on the market all is the clean photovoltaic of fixed track formula when working at present, if photovoltaic array has exceeded the clear fixed area that the machine can, need the manpower to move when clear just can clean the clean area that surpasss, such specific induction system of interpolation or fixing device's response mode has not only increased equipment cost, and the restriction of the size and the shape of receiving the photovoltaic array leads to unable installation additional installation easily moreover.
When the photovoltaic cleaning robot works on a photovoltaic panel, the cleaning robot needs to rotate 180 degrees or 90 degrees according to a planned cleaning route to complete cleaning. When the robot works on the photovoltaic panel with the inclination, the friction force between the track and the photovoltaic panel is damaged during turning, and the robot is easy to slip off, so that most of the photovoltaic cleaning walking robots on the market cannot clean the photovoltaic array with the higher inclination. And the robot that adopts electronic flexible sucking disc, control is comparatively complicated, and is bulky, and the step of one more step lift sucking disc reduces efficiency, and adaptability is relatively poor.
To above problem, the photovoltaic cleaning robot who has from flexible rotatory sucking disc subassembly is urgently needed to be designed, makes photovoltaic cleaning robot can not the landing when the photovoltaic array of different gradients turns, guarantees photovoltaic cleaning robot normal operating.
SUMMERY OF THE UTILITY MODEL
In view of the above-mentioned problem that exists among the prior art, the utility model discloses a main aim at provides a photovoltaic cleaning robot with from flexible rotatory sucking disc subassembly, can make photovoltaic cleaning robot can not the landing when the photovoltaic array of different gradients turns, provides the guarantee for photovoltaic cleaning robot's continuous operation, still can simplify photovoltaic cleaning robot's sucker structure simultaneously, improves photovoltaic cleaning robot's efficiency and suitability.
The technical scheme of the utility model is like this:
the utility model provides a photovoltaic cleaning machines people with from flexible rotatory sucking disc subassembly, photovoltaic cleaning machines people includes the fuselage, be provided with actuating mechanism on the fuselage and clean the mechanism, it is fixed to clean the mechanism and set up on the lateral wall of fuselage front end, just clean the mechanism and carry out cleaning operation on the cleaning operation plane under actuating mechanism's drive, the chassis intermediate position of fuselage is provided with from flexible rotatory sucking disc subassembly, when cleaning machines people turns on the cleaning operation plane, through from flexible rotatory sucking disc subassembly adsorbs on the cleaning operation plane, from flexible rotatory sucking disc subassembly includes link assembly, sliding bracket subassembly, sucking disc connecting rod linking bridge, bearing, slip ring subassembly, sucking disc fixed bolster and sucking disc.
The connecting rod assembly comprises a connecting rod fixing support, a first connecting rod, a second connecting rod and a third connecting rod, one end of the connecting rod fixing support is fixedly connected with a chassis of the machine body, the other end of the connecting rod fixing support is movably connected with one end of the first connecting rod, one end of the second connecting rod is movably connected with the first connecting rod, and one end of the third connecting rod is movably connected with the other end of the first connecting rod;
the sliding support subassembly includes first sliding support and second sliding support, the shape of first sliding support and second sliding support is the ring shape, second sliding support sets up the top of first sliding support, just the other end of second connecting rod with second sliding support swing joint, first sliding support upper surface circumferencial direction upwards extends and is provided with a plurality of slides.
The sucker fixing support is in a ring shape and is arranged on a chassis of the machine body through a plurality of fixing parts arranged in the circumferential direction of the lower part of the outer side wall of the sucker fixing support, the first sliding support is arranged at the bottom of the sucker fixing support, a plurality of first sliding grooves are vertically arranged in the circumferential direction of the inner side wall of the sucker fixing support, the sliding sheet is arranged in the first sliding grooves, and the second sliding support and the sliding sheet are fixedly assembled and then slide up and down in the first sliding grooves;
the inside wall circumferencial direction of sucking disc fixed bolster is located the equal vertical sliding support slide rail that is provided with in both sides of first spout, the outside wall circumferencial direction of second sliding support is provided with a plurality of recesses, the second sliding support passes through the cooperation of recess and sliding support slide rail is in the inside vertical slip of sucking disc fixed bolster, the vertical a plurality of second spouts that are provided with of sucking disc fixed bolster inside wall circumferencial direction.
The sliding ring assembly comprises a sliding ring and a plurality of sliding parts arranged in the circumferential direction of the outer side wall of the sliding ring, the sliding parts are formed by extending the outer side wall of the sliding ring outwards, and the sliding ring slides up and down in the sucker fixing bracket through the matching of the sliding parts and the second sliding groove;
the shape of sucking disc connecting rod linking bridge is the ring shape, the other end of third connecting rod with sucking disc connecting rod linking bridge swing joint, the bearing housing is established sucking disc connecting rod linking bridge's outside, just the bearing sets up the inside of slip ring, the sucking disc sets up inside first slip support and with sucking disc connecting rod linking bridge fixed connection.
The lower end of the connecting rod fixing support is fixedly provided with a fixing plate, two ends of the fixing plate are respectively provided with a first fixing hole, and the lower end of the connecting rod fixing support is fixedly connected with a chassis of the machine body through the fixing plate.
The fixing plate is vertically arranged at the lower end of the connecting rod fixing support, the fixing plate and the connecting rod fixing support are integrally formed, and the fixing plate is fixedly connected with the chassis of the machine body through the two first fixing holes.
The upper surface of the first sliding support is provided with a fixing ring, the fixing ring and the first sliding support are integrally formed, the inner diameter of the fixing ring is smaller than that of the first sliding support, the outer diameter of the fixing ring is smaller than that of the first sliding support, and the plurality of sliders are uniformly arranged on the upper surface of the fixing ring and close to the circumferential direction of the inner side wall of the fixing ring;
the second sliding support is in a ring shape, a first supporting rod is arranged in the second sliding support, two ends of the first supporting rod are fixedly arranged on the inner side wall of the second sliding support respectively, a first convex portion extends upwards from the center of the upper end of the first supporting rod, a first through hole is formed in the first convex portion, and the other end of the second connecting rod is movably connected with the first supporting rod through the first convex portion.
The first sliding groove is concavely provided with a positioning groove in the vertical direction, the lower part of the positioning groove is provided with a plurality of pulleys, the lower parts of two side walls corresponding to the positioning groove are respectively provided with a fixing hole, two ends of a fixing shaft in each pulley are respectively arranged in the fixing holes, and each pulley is in rotation in the positioning groove through the fixing shaft and is abutted to the outer side wall of the sliding sheet.
The inside wall lower part circumferencial direction of slip ring is provided with annular installation convex part of circle, the bearing sets up inside and being located of slip ring on the installation convex part, on the slip ring the lateral wall of sliding part is vertical to be provided with the mounting groove, be provided with a plurality of gyro wheels along vertical direction in the mounting groove, the gyro wheel with the mounting groove rotates to be connected, the slip ring passes through the gyro wheel is followed second spout in the sucking disc fixed bolster slides from top to bottom.
The circular limiting convex part extends outwards along the circumferential direction of the outer side wall at the upper end of the sucker connecting rod connecting support, the limiting convex part is positioned at the outer side of the upper end of the bearing so as to limit the bearing to move upwards, a second supporting rod is arranged on the limiting convex part, a second convex part extends upwards from the central position at the upper end of the second supporting rod, a second through hole is arranged in the second convex part, the other end of the third connecting rod is movably connected with the second supporting rod through the second convex part, a circular first fixing plate is arranged at the bottom of the sucker connecting rod connecting support, the first fixing plate is fixedly connected with the bottom of the inner side wall of the sucker connecting rod connecting support, a first fixing hole is arranged on the first fixing plate, a circular second fixing plate is fixedly arranged at the upper end of the sucker, and a second fixing hole is arranged on the second fixing plate, the second fixing plate is fixedly connected with the first fixing plate through a fastening bolt, and the sucker connecting rod connecting support is fixedly connected with the sucker through the matching of the first fixing plate and the second fixing plate.
The utility model has the advantages of it is following and beneficial effect: the photovoltaic cleaning robot with the self-telescopic rotary sucker component comprises a robot body, wherein a driving mechanism and a cleaning mechanism are arranged on the robot body, the cleaning mechanism is fixedly arranged on the outer side wall of the front end of the robot body, and is driven by the driving mechanism to perform cleaning operation on a cleaning operation plane; through the above design, set up from flexible rotatory sucking disc subassembly in the chassis bottom intermediate position of photovoltaic cleaning robot's fuselage promptly, can not the landing when making photovoltaic cleaning robot turn on the photovoltaic array of different gradients, guarantee photovoltaic cleaning robot normal operating, for cleaning machine's continuous operation provides the guarantee, simplify photovoltaic cleaning robot's sucker structure simultaneously, improve photovoltaic cleaning robot's clean efficiency and suitability.
Drawings
Fig. 1 is a schematic view of a structure of a photovoltaic cleaning robot with a self-retracting rotary chuck assembly according to an embodiment of the present invention.
Fig. 2 is a schematic view of a three-dimensional structure of a direction of the self-retracting rotary chuck assembly according to an embodiment of the present invention.
Fig. 3 is a schematic perspective view of another direction of the self-retracting rotary chuck assembly according to an embodiment of the present invention.
Fig. 4 is a schematic view of a front view structure of a self-retracting rotary chuck assembly according to an embodiment of the present invention.
Fig. 5 is an exploded schematic view of a self-retracting rotary chuck assembly according to an embodiment of the present invention.
Fig. 6 is a schematic view of a three-dimensional structure of a connecting rod assembly in a self-retracting rotary chuck assembly according to an embodiment of the present invention.
Fig. 7 is a schematic perspective view of a first sliding bracket in a sliding bracket assembly according to an embodiment of the present invention.
Fig. 8 is a schematic view of a three-dimensional structure of a suction cup connecting rod connecting bracket in a self-retracting rotary suction cup assembly according to an embodiment of the present invention.
Fig. 9 is a schematic perspective view of a sliding ring in a sliding ring assembly according to an embodiment of the present invention.
Fig. 10 is a schematic perspective view of a suction cup fixing bracket in a self-retracting rotary suction cup assembly according to an embodiment of the present invention.
Fig. 11 is a schematic view of the photovoltaic cleaning robot with self-retracting rotary chuck assembly turning on the photovoltaic panel provided by the embodiment of the present invention.
Fig. 12 is a schematic view of the photovoltaic cleaning robot with a self-retracting rotary chuck assembly according to an embodiment of the present invention when the photovoltaic cleaning robot does not encounter the frame of the photovoltaic panel.
Fig. 13 is a schematic view of the photovoltaic cleaning robot with a self-retracting rotating chuck assembly according to an embodiment of the present invention when encountering the frame of the photovoltaic panel.
Fig. 14 is a schematic sectional view of the photovoltaic cleaning robot with a self-retracting rotary chuck assembly according to an embodiment of the present invention when encountering a frame of a photovoltaic panel.
Detailed Description
The invention will be further described with reference to the drawings and specific examples.
As shown in fig. 1 to 14: for the embodiment of the utility model provides a pair of photovoltaic cleaning robot with from flexible rotatory sucking disc subassembly, cleaning robot includes fuselage 100, be provided with actuating mechanism on the fuselage 100 and clean mechanism 102, clean the fixed setting of mechanism on the lateral wall of fuselage front end, and clean the mechanism and carry out cleaning operation on the cleaning operation plane under actuating mechanism's drive, chassis 101 intermediate position of fuselage 100 is provided with from flexible rotatory sucking disc subassembly 200, cleaning robot is when turning on the cleaning operation plane, adsorb on the cleaning operation plane through from flexible rotatory sucking disc subassembly 200, from flexible rotatory sucking disc subassembly 200 includes link assembly, sliding support subassembly, sucking disc connecting rod linking bridge 201, bearing 202, sliding ring subassembly, sucking disc fixed bolster 203 and sucking disc 204. The machine body 100 is also provided with a traveling device, and the traveling device drives the machine body 100 to travel under the driving of the driving mechanism; specifically, the running gear includes a crawler belt mechanism, the driving mechanism includes a driving motor, wherein the crawler belt mechanism includes a left wheel crawler belt 103 and a right wheel crawler belt 104, the driving motor includes a left wheel driving motor 105 and a right wheel driving motor 106, the left wheel crawler belt 101 is disposed on the left side of the chassis 103 in the machine body 100, and the left wheel crawler belt 101 is moved by the driving of the left wheel driving motor 105, the right wheel crawler belt 104 is disposed on the right side of the chassis 103 in the machine body 100, and the right wheel crawler belt 104 is moved by the driving of the right wheel driving motor 106.
The connecting rod assembly comprises a connecting rod fixing support 205, a first connecting rod 206, a second connecting rod 207 and a third connecting rod 208, one end of the connecting rod fixing support 205 is fixedly connected with the chassis 101 of the machine body 100, the other end of the connecting rod fixing support 205 is movably connected with one end of the first connecting rod 206, one end of the second connecting rod 207 is movably connected with the first connecting rod 206, and one end of the third connecting rod 208 is movably connected with the other end of the first connecting rod 205;
the sliding bracket assembly comprises a first sliding bracket 209 and a second sliding bracket 210, the first sliding bracket 209 and the second sliding bracket 210 are both in a circular ring shape, the second sliding bracket 210 is arranged above the first sliding bracket 209, the other end of the second connecting rod 207 is movably connected with the second sliding bracket 210, and a plurality of sliding sheets 211 extend upwards in the circumferential direction of the upper surface of the first sliding bracket 209.
The sucker fixing support 203 is in a ring shape, the sucker fixing support 203 is arranged on the chassis 101 of the machine body 100 through a plurality of fixing portions 212 arranged in the circumferential direction of the lower portion of the outer side wall of the sucker fixing support 203, the first sliding support 209 is arranged at the bottom of the sucker fixing support 203, a plurality of first sliding grooves 213 are vertically arranged in the circumferential direction of the inner side wall of the sucker fixing support 203, the sliding piece 211 is arranged in the first sliding grooves 213, and the second sliding support and the sliding piece are fixedly assembled and then slide up and down in the first sliding grooves.
The inside wall circumferencial direction of sucking disc fixed bolster 203 is located the equal vertical sliding support slide rail 214 that is provided with in both sides of first spout 213, and the outside wall circumferencial direction of second sliding support 210 is provided with a plurality of recesses 215, and second sliding support 210 slides from top to bottom in sucking disc fixed bolster 203 inside through recess 215 and sliding support slide rail 214's cooperation, and sucking disc fixed bolster 203 inside wall circumferencial direction is vertical to be provided with a plurality of second spouts 216.
The sliding ring assembly comprises a sliding ring 217 and a plurality of sliding parts 218 arranged on the circumferential direction of the outer side wall of the sliding ring 217, the sliding parts 218 are formed by extending the outer side wall of the sliding ring 217 outwards, and the sliding ring 217 slides up and down in the sucker fixing bracket 203 through the matching of the sliding parts 218 and the second sliding groove 216;
the shape of sucking disc connecting rod linking bridge 201 is the ring shape, the other end and the sucking disc connecting rod linking bridge 201 swing joint of third connecting rod 208, and bearing 202 cover is established in the outside of sucking disc connecting rod linking bridge 201, and bearing 202 sets up the inside at slip ring 217, and sucking disc 204 sets up inside first slip mount 209 and with sucking disc connecting rod linking bridge 201 fixed connection.
The lower end of the connecting rod fixing bracket 205 is fixedly provided with a fixing plate 219, two ends of the fixing plate 219 are respectively provided with a first fixing hole 220, and the lower end of the connecting rod fixing bracket 205 is fixedly connected with the chassis 101 of the machine body 100 through the fixing plate 219.
The fixing plate 219 is vertically disposed at a lower end of the connecting rod fixing bracket 205, the fixing plate 219 and the connecting rod fixing bracket 205 are integrally formed, and the fixing plate 219 is fixedly connected to the chassis 101 of the body 100 through two first fixing holes 220.
The upper surface of the first sliding support 209 is provided with a fixing ring 221, the fixing ring 221 and the first sliding support 209 are integrally formed, the inner diameter of the fixing ring 221 is smaller than the inner diameter of the first sliding support 209, the outer diameter of the fixing ring 221 is smaller than the outer diameter of the first sliding support 209, and the plurality of sliding pieces 211 are uniformly arranged on the upper surface of the fixing ring 221 and close to the circumferential direction of the inner side wall of the fixing ring 221; the second sliding support 210 is circular, a first support rod 222 is arranged in the second sliding support 210, two ends of the first support rod 222 are respectively and fixedly arranged on the inner side wall of the second sliding support 210, a first convex portion 223 extends upwards from the central position of the upper end of the first support rod 222, a first through hole 224 is arranged in the first convex portion 223, and the other end of the second connecting rod 207 is movably connected with the first support rod 222 through the first convex portion 223.
The first sliding groove 213 is recessed in the vertical direction to form a positioning groove 225, a plurality of pulleys 226 are disposed at the lower portion of the positioning groove 225, fixing holes 227 are disposed at the lower portions of two corresponding side walls of the positioning groove 225, two ends of a fixing shaft 228 in each pulley 226 are disposed in the fixing holes 227, and the pulley 226 rotates in the positioning groove 225 through the fixing shaft 228 and abuts against the outer side wall of the sliding piece 211.
An annular mounting convex part 229 is arranged on the circumferential direction of the lower part of the inner side wall of the sliding ring 217, the bearing 202 is arranged inside the sliding ring 217 and located on the mounting convex part 229, a mounting groove 230 is vertically arranged on the outer side wall of the sliding part 218 on the sliding ring 219, a plurality of rollers 231 are arranged in the mounting groove 230 along the vertical direction, the rollers 231 are rotatably connected with the mounting groove 230, and the sliding ring 217 slides up and down along the second sliding groove 216 in the sucker fixing support 203 through the rollers 231.
The circumferential direction of the outer side wall of the upper end of the sucker connecting rod connecting support 201 extends outwards to form an annular limiting convex part 232, the limiting convex part 232 is located on the outer side of the upper end of the bearing 202 to limit the bearing 202 to move upwards, a second support rod 233 is arranged on the limiting convex part 232, a second convex part 234 extends upwards from the central position of the upper end of the second support rod 233, a second through hole 235 is formed in the second convex part 234, the other end of a third connecting rod 208 is movably connected with the second support rod 233 through the second convex part 234, an annular first fixing plate 236 is arranged at the bottom of the sucker connecting support 201, the first fixing plate 236 is fixedly connected with the bottom of the inner side wall of the sucker connecting support 201, namely the first fixing plate 236 and the sucker connecting support 201 are integrally formed, the processing is convenient, and the strength between the first fixing plate 236 and the sucker connecting; the first fixing plate 236 is provided with a first fixing hole 237, the upper end of the suction cup 204 is fixedly provided with a circular second fixing plate 238, the second fixing plate 238 is provided with a second fixing hole 240, the second fixing plate 238 is fixedly connected with the first fixing plate 236 through a fastening bolt (not shown in the figure), and the suction cup connecting bracket 201 is fixedly connected with the suction cup 204 through the matching of the first fixing plate 236 and the second fixing plate 238.
When the photovoltaic cleaning robot travels on an inclined working plane with a certain slope to perform cleaning operation, the photovoltaic cleaning robot needs to rotate 180 degrees or 90 degrees at corners and other positions according to a planned cleaning route to complete cleaning.
When the photovoltaic cleaning robot rotates, the self-telescopic rotary sucker component arranged on the chassis 101 of the machine body 100 is adsorbed on the surface of the photovoltaic panel 300, the left wheel driving motor 105 drives the left wheel crawler 103 and the right wheel driving motor 106 drives the right wheel crawler 104, so that the machine body 100 turns, the sucker 204 does not rotate along with the machine body 100 and keeps fixed under the action of the bearing 202, the vacuum property is guaranteed not to be damaged due to the sliding of the sucker 204, the whole machine body 100 can accurately keep rotating around the center of the circle of the sucker 204, the machine body 100 is guaranteed not to slide by means of the adsorption force of the sucker 204, and after the rotation is completed, the cleaning operation is continued according to the planned path.
When photovoltaic cleaning machines people carries out straight line walking, when it does not meet the frame of photovoltaic board 300, sucking disc 204 and the contact of photovoltaic board 200, provide certain adsorption affinity, as shown in fig. 12, first sliding support 209 bottom is slightly higher than sucking disc 204 bottom this moment, when sucking disc 204 turned the time adsorb completely, because the air in sucking disc 204 was taken away completely, sucking disc 204 can take place deformation, sucking disc 204's size can become flat, consequently, first sliding support 209 bottom need be higher than sucking disc 204 bottom slightly, reserve some positions that let sucking disc 204 adsorb deformation.
The sucker 204 is flexible, so that when the sucker 204 is directly contacted with the frame of the photovoltaic panel 300, the edge of the sucker 204 can be bent by the force of the frame of the photovoltaic panel 300 on the sucker 204, the original structure is damaged, the vacuum property is damaged, the sucker 204 cannot restore to the original state under pressure, the motion state of the photovoltaic cleaning robot is also damaged, and the photovoltaic cleaning robot cannot continue cleaning operation.
When the photovoltaic cleaning robot meets the frame of the photovoltaic panel, the first sliding support 209 contacts the frame of the photovoltaic panel 300 earlier than the suction cup 204, the photovoltaic panel 300 provides a transverse force to the first sliding support 209, because the sliding sheet 211 of the first sliding support 209 is limited in the second sliding groove 216, the sliding sheet cannot move transversely but can move vertically, so that the transverse force is converted into a force for lifting the second sliding support 209 through the inclined surface at the lower end of the first sliding support 209, under the cooperation of the pulley 226 in the positioning groove 225 of the first sliding groove 213, the second sliding support 209 is lifted smoothly, the first sliding support 209 drives the sliding sheet 211 to lift together, the sliding sheet 211 drives the second sliding support 210 to lift, the second sliding support 210 drives the second connecting rod 207 to lift, the second connecting rod 207 drives the third connecting rod 208 to lift, the third connecting rod 208 drives the suction cup connecting support 201 to lift, the suction cup connecting support 201 drives the suction cup 204 to lift, the link assembly composed of the link fixing bracket 205, the first link 206, the second link 207 and the third link 208 plays a role of enlarging a stroke, so that the suction cup 204 rises more than the first sliding bracket 209, and therefore, when the photovoltaic cleaning robot does not meet the frame of the photovoltaic panel 300, the suction cup 204 is lower than the first sliding bracket 209, and when the photovoltaic cleaning robot meets the frame of the photovoltaic panel 300, the suction cup 204 is higher than the first sliding bracket 209, and therefore, the suction cup 204 can smoothly pass through the frame of the photovoltaic panel 300.
Finally, it should be noted that: the above-mentioned embodiments are only used for illustrating the technical solution of the present invention, and not for limiting the same; although the present invention has been described in detail with reference to the foregoing embodiments, it should be understood by those skilled in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some or all of the technical features may be equivalently replaced; such modifications and substitutions do not depart from the spirit and scope of the present invention.
Claims (10)
1. The utility model provides a photovoltaic cleaning machines people with from flexible rotatory sucking disc subassembly, photovoltaic cleaning machines people includes the fuselage, be provided with actuating mechanism on the fuselage and clean the mechanism, it is fixed to set up to clean the mechanism on the lateral wall of fuselage front end, just clean the mechanism and carry out clean operation, its characterized in that on clean operation plane under actuating mechanism's drive: the cleaning robot comprises a cleaning operation plane, and is characterized in that a self-telescopic rotary sucker assembly is arranged in the middle of a chassis of the robot body, and the self-telescopic rotary sucker assembly is adsorbed on the cleaning operation plane and comprises a connecting rod assembly, a sliding support assembly, a sucker connecting rod connecting support, a bearing, a sliding ring assembly, a sucker fixing support and a sucker when the cleaning robot turns on the cleaning operation plane.
2. The photovoltaic cleaning robot with the self-retracting rotary sucker assembly according to claim 1, wherein the connecting rod assembly comprises a connecting rod fixing support, a first connecting rod, a second connecting rod and a third connecting rod, one end of the connecting rod fixing support is fixedly connected with a chassis of the robot body, the other end of the connecting rod fixing support is movably connected with one end of the first connecting rod, one end of the second connecting rod is movably connected with the first connecting rod, and one end of the third connecting rod is movably connected with the other end of the first connecting rod;
the sliding support subassembly includes first sliding support and second sliding support, the shape of first sliding support and second sliding support is the ring shape, second sliding support sets up the top of first sliding support, just the other end of second connecting rod with second sliding support swing joint, first sliding support upper surface circumferencial direction upwards extends and is provided with a plurality of slides.
3. The photovoltaic cleaning robot with the self-retracting rotary sucker assembly as claimed in claim 2, wherein the sucker fixing bracket is shaped like a circular ring and is arranged on the chassis of the robot body through a plurality of fixing parts arranged in the circumferential direction of the lower part of the outer side wall of the sucker fixing bracket, the first sliding bracket is arranged at the bottom of the sucker fixing bracket, a plurality of first sliding grooves are vertically arranged in the circumferential direction of the inner side wall of the sucker fixing bracket, the sliding sheet is arranged in the first sliding grooves, and the second sliding bracket slides up and down in the first sliding grooves together with the sliding sheet after being fixedly assembled;
the inside wall circumferencial direction of sucking disc fixed bolster is located the equal vertical sliding support slide rail that is provided with in both sides of first spout, the outside wall circumferencial direction of second sliding support is provided with a plurality of recesses, the second sliding support passes through the cooperation of recess and sliding support slide rail is in the inside vertical slip of sucking disc fixed bolster, the vertical a plurality of second spouts that are provided with of sucking disc fixed bolster inside wall circumferencial direction.
4. The photovoltaic cleaning robot with the self-retracting rotary sucker assembly according to claim 3, wherein the sliding ring assembly comprises a sliding ring and a plurality of sliding parts arranged in the circumferential direction of the outer side wall of the sliding ring, the sliding parts are formed by extending the outer side wall of the sliding ring outwards, and the sliding ring slides up and down in the sucker fixing bracket through the matching of the sliding parts and the second sliding groove;
the shape of sucking disc connecting rod linking bridge is the ring shape, the other end of third connecting rod with sucking disc connecting rod linking bridge swing joint, the bearing housing is established sucking disc connecting rod linking bridge's outside, just the bearing sets up the inside of slip ring, the sucking disc sets up inside first slip support and with sucking disc connecting rod linking bridge fixed connection.
5. The photovoltaic cleaning robot with the self-telescopic rotary sucker assembly as claimed in claim 2, wherein a fixing plate is fixedly arranged at the lower end of the connecting rod fixing bracket, first fixing holes are respectively arranged at two ends of the fixing plate, and the lower end of the connecting rod fixing bracket is fixedly connected with the chassis of the machine body through the fixing plate.
6. The robot cleaner of claim 5, wherein the fixing plate is vertically disposed at a lower end of the connecting rod fixing bracket, and the fixing plate is integrally formed with the connecting rod fixing bracket, and is fixedly connected to the chassis of the main body through the two first fixing holes.
7. The photovoltaic cleaning robot with the self-telescopic rotating suction cup assembly according to claim 2, wherein a fixing ring is arranged on the upper surface of the first sliding support and is integrally formed with the first sliding support, the inner diameter of the fixing ring is smaller than that of the first sliding support, the outer diameter of the fixing ring is smaller than that of the first sliding support, and a plurality of sliding sheets are uniformly arranged on the upper surface of the fixing ring and close to the circumferential direction of the inner side wall of the fixing ring;
the second sliding support is in a ring shape, a first supporting rod is arranged in the second sliding support, two ends of the first supporting rod are fixedly arranged on the inner side wall of the second sliding support respectively, a first convex portion extends upwards from the center of the upper end of the first supporting rod, a first through hole is formed in the first convex portion, and the other end of the second connecting rod is movably connected with the first supporting rod through the first convex portion.
8. The robot according to claim 7, wherein the first sliding groove is formed with a positioning groove recessed in a vertical direction, a plurality of pulleys are disposed on a lower portion of the positioning groove, fixing holes are disposed on lower portions of two corresponding side walls of the positioning groove, two ends of a fixing shaft in each pulley are disposed in the fixing holes, and the pulley rotates in the positioning groove through the fixing shaft and abuts against an outer side wall of the sliding piece.
9. The photovoltaic cleaning robot with the self-retracting rotary chuck assembly according to claim 4, wherein a circular installation protrusion is disposed on a lower portion of an inner side wall of the sliding ring in a circumferential direction, the bearing is disposed inside the sliding ring and located on the installation protrusion, an installation groove is vertically disposed on an outer side wall of the sliding portion on the sliding ring, a plurality of rollers are vertically disposed in the installation groove, the rollers are rotatably connected with the installation groove, and the sliding ring slides up and down along a second sliding groove in the chuck fixing bracket through the rollers.
10. The photovoltaic cleaning robot with the self-retracting rotary sucker assembly as claimed in claim 4, wherein the sucker connecting rod connecting bracket has a circular limiting protrusion extending outward in the circumferential direction of the outer side wall of the upper end thereof, the limiting protrusion is located outside the upper end of the bearing to limit the upward movement of the bearing, the limiting protrusion is provided with a second support rod, the central position of the upper end of the second support rod extends upward and is provided with a second protrusion, the second protrusion is provided with a second through hole therein, the other end of the third connecting rod is movably connected with the second support rod through the second protrusion, the bottom of the sucker connecting rod connecting bracket is provided with a circular first fixing plate, the first fixing plate is fixedly connected with the bottom of the inner side wall of the sucker connecting rod connecting bracket, and the first fixing plate is provided with a first fixing hole, the fixed annular second fixed plate that is provided with in sucking disc upper end, be provided with the second fixed orifices on the second fixed plate, the second fixed plate passes through fastening bolt and first fixed plate fixed connection, sucking disc connecting rod linking bridge through the cooperation of first fixed plate and second fixed plate with sucking disc fixed connection.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201922044234.7U CN211070998U (en) | 2019-11-22 | 2019-11-22 | Photovoltaic cleaning robot with from flexible rotatory sucking disc subassembly |
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| CN201922044234.7U CN211070998U (en) | 2019-11-22 | 2019-11-22 | Photovoltaic cleaning robot with from flexible rotatory sucking disc subassembly |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110860501A (en) * | 2019-11-22 | 2020-03-06 | 深圳怪虫机器人有限公司 | Photovoltaic cleaning robot with from flexible rotatory sucking disc subassembly |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110860501A (en) * | 2019-11-22 | 2020-03-06 | 深圳怪虫机器人有限公司 | Photovoltaic cleaning robot with from flexible rotatory sucking disc subassembly |
| CN110860501B (en) * | 2019-11-22 | 2024-09-20 | 深圳怪虫机器人有限公司 | Photovoltaic cleaning robot with self-telescopic rotary sucker assembly |
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