CN211275614U - Photovoltaic cleaning robot with infrared shutter sensor device - Google Patents
Photovoltaic cleaning robot with infrared shutter sensor device Download PDFInfo
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- CN211275614U CN211275614U CN201922044231.3U CN201922044231U CN211275614U CN 211275614 U CN211275614 U CN 211275614U CN 201922044231 U CN201922044231 U CN 201922044231U CN 211275614 U CN211275614 U CN 211275614U
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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
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Abstract
The utility model relates to a photovoltaic cleaning machines people with infrared shutter sensor device, including the fuselage, be provided with actuating mechanism, running gear on the fuselage and clean the mechanism, running gear drives the fuselage and walks, clean the mechanism and carry out the cleaning operation under actuating mechanism's drive, still include infrared shutter sensor device, infrared shutter sensor device includes first infrared shutter sensor subassembly, the infrared shutter sensor subassembly of second and the infrared shutter sensor subassembly of third. The utility model discloses can simplify photovoltaic cleaning machines people's detection structure, improve photovoltaic cleaning machines people's suitability to improve photovoltaic cleaning machines people's degree of automation, in order to reach the clean, the saving manpower of the steady walking of response photovoltaic surface automatic control and reduce the power station maintenance cost.
Description
Technical Field
The embodiment of the invention relates to the technical field of cleaning robots, in particular to a photovoltaic cleaning robot with an infrared shutter sensor device.
Background
Solar photovoltaic has become an important power of energy revolution in the world as a renewable clean energy. The surface of the solar cell panel is easy to accumulate dirt such as wind sand, dust and the like, and if the solar cell panel is not timely cleaned scientifically and professionally, the generated power of the module is reduced by 40% -60% to the maximum extent, and the generated energy is reduced by 20% -30%. Therefore, the concept of improving the power generation capacity and the benefit of the power station by reasonably and scientifically cleaning the solar cell panel and carefully maintaining the components is accepted by the industry.
When the photovoltaic cleaning walking robot works, the process is basically full-automatic, and the position of the photovoltaic cleaning walking robot needs to be judged by means of a detection device. At present, no mature movable detection mode exists in the market, and a specific sensing device or a fixing device is required to be added in a photovoltaic array for positioning, so that the machine can walk and be clean on the photovoltaic array. Such an induction method of adding a specific induction device or a fixing device not only increases the cost of the equipment, but also is easily limited by the size and shape of the photovoltaic array, so that an additional device cannot be installed.
Disclosure of Invention
In view of the above problems in the prior art, a primary object of the present invention is to provide a photovoltaic cleaning robot with an infrared shutter sensor device, which can simplify a detection structure of the photovoltaic cleaning robot, improve the applicability of the photovoltaic cleaning robot, and improve the automation degree of the photovoltaic cleaning robot, so as to achieve the purpose of sensing a photovoltaic surface to automatically control smooth walking and cleaning, save manpower, and reduce the maintenance cost of a power station.
The technical scheme of the invention is as follows:
the utility model provides a photovoltaic cleaning machines people with infrared shutter sensor device, photovoltaic cleaning machines people includes the fuselage, be provided with actuating mechanism, running gear on the fuselage and clean the mechanism, running gear drives the fuselage and walks, clean the mechanism and carry out clean operation, its characterized in that under actuating mechanism's drive: the infrared shutter sensor device comprises a first infrared shutter sensor assembly, a second infrared shutter sensor assembly and a third infrared shutter sensor assembly, wherein the first infrared shutter sensor assembly is four in number and is fixedly arranged at four corners of a chassis in the machine body respectively, the second infrared shutter sensor assembly is four in number and is fixedly arranged at the front and the rear of the chassis in the machine body respectively, the third infrared shutter sensor assembly is two in number and is fixedly arranged at the left side and the right side of the chassis in the machine body respectively.
Running gear includes track and the driving motor who is connected with the track, wherein, the track includes left wheel track and right wheel track, driving motor includes left wheel driving motor and right wheel driving motor, the left wheel track sets up the left side of fuselage bottom, just the left wheel track passes through left wheel driving motor's drive removes, right wheel track sets up the right side of fuselage bottom, just right wheel track passes right wheel driving motor's drive removes.
Among the four first infrared shutter sensor assemblies, two first infrared shutter sensor assemblies are respectively arranged at the front end and the rear end of the inner side wall of the left end of the machine body, and the other two first infrared shutter sensor assemblies are respectively arranged at the front end and the rear end of the inner side wall of the right end of the machine body.
Each first infrared shutter sensor subassembly all includes first support, first base, first sensor, second sensor and first spring, wherein:
the shape of first base is the hemisphere, the fixed annular first supporting part of circle that is provided with in upper end of first base, first base internal fixation is provided with first dead lever, the cover is equipped with on the first dead lever first spring, first support passes through first spring housing is established on the first supporting part of first base upper end, first sensor and second sensor set up respectively the top of first support, just the second sensor is fixed to be set up the upper end of first sensor, the upper end of first dead lever runs through first support, first sensor and second sensor in proper order and upwards extends.
The outer diameter of the first supporting part is equal to the outer diameter of an opening in the upper end of the first base, the first base is integrally formed with the first supporting part, a first cylindrical cavity is formed in the first support, the inner diameter of the first support is larger than the outer diameter of the first supporting part, a first fixing portion is fixedly arranged at the upper end of the inner portion of the first cavity in the first support, the lower end of a first spring is fixedly arranged at the bottom of the first base, the upper end of the first spring is fixedly arranged at the lower surface of the first fixing portion, a first sensor is arranged on the upper surface of the first fixing portion, a second sensor is arranged on the upper surface of the first sensor, and the upper end of a first fixing rod penetrates through a first positioning hole formed in the first fixing portion and extends upwards.
Be provided with first recess in the first sensor, first recess extends to the one end of first sensor is so that the shape of first sensor is character cut in bas-relief, be provided with in the second sensor with the corresponding second recess of first recess, the second recess extends to the one end of second sensor is so that the shape of second sensor is character cut in bas-relief, the upper end of first dead lever is located in first recess and the second recess, the vertical first sensor drive plate that is provided with of one end lateral wall of first sensor, just the vertical second sensor drive plate that is provided with of one end lateral wall of second sensor.
Each the second infrared shutter sensor subassembly all includes second support, second base, third sensor and second spring, wherein:
the shape of second base is the hemisphere, the fixed annular second supporting part that is provided with in upper end of second base, second base internal fixation is provided with the second dead lever, the cover is equipped with on the second dead lever the second spring, the second support passes through the second spring housing is established on the second supporting part of second base upper end, the third sensor sets up the top of second support, the upper end of second dead lever runs through first support and third sensor in proper order and upwards extends.
The outer diameter of the second supporting part is equal to the outer diameter of an opening at the upper end of the second base, the second base and the second supporting part are integrally formed, a cylindrical second cavity is arranged inside the second support, the inner diameter of the second support is larger than the outer diameter of the second supporting part, a second fixing part is fixedly arranged at the upper end inside the second cavity in the second support, the lower end of a second spring is fixedly arranged at the bottom of the second base, the upper end of the second spring is fixedly arranged at the lower surface of the second fixing part, the third sensor is arranged on the upper surface of the second fixing part, and the upper end of a second fixing rod penetrates through a second positioning hole formed in the second fixing part and extends upwards;
the third sensor is provided with a third groove, the third groove extends to one end of the third sensor so that the third sensor is in a concave shape, the upper end of the second fixing rod is located in the third groove, and a third sensor driving plate is vertically arranged on the outer side wall of one end of the third sensor.
Each the third infrared shutter sensor assembly includes a third bracket, a third base, a fourth sensor and a third spring, wherein:
the shape of third base is the hemisphere, the fixed annular third supporting part that is provided with in upper end of third base, third base internal fixation is provided with the third dead lever, the cover is equipped with on the third dead lever the third spring, the third support passes through the third spring housing is established on the third supporting part of third base upper end, the fourth sensor sets up the top of third support, the upper end of third dead lever runs through third support and fourth sensor in proper order and upwards extends.
The outer diameter of the third supporting part is equal to the outer diameter of an opening at the upper end of the third base, the third base and the third supporting part are integrally formed, a cylindrical third cavity is arranged inside the third support, the inner diameter of the third support is larger than the outer diameter of the third supporting part, a third fixing part is fixedly arranged at the upper end inside the third cavity in the third support, the lower end of a third spring is fixedly arranged at the bottom of the third base, the upper end of the third spring is fixedly arranged at the lower surface of the third fixing part, the fourth sensor is arranged on the upper surface of the third fixing part, and the upper end of a third fixing rod penetrates through a third positioning hole formed in the third fixing part and extends upwards;
the fourth sensor is provided with a fourth groove, the fourth groove extends to one end of the fourth sensor so that the fourth sensor is in a concave shape, the upper end of the third fixing rod is located in the fourth groove, and a fourth sensor driving plate is vertically arranged on the outer side wall of one end of the fourth sensor.
The invention has the following advantages and beneficial effects: the photovoltaic cleaning robot with the infrared shutter sensor device comprises a robot body, wherein a driving mechanism, a traveling device and a cleaning mechanism are arranged on the robot body, the driving mechanism is electrically connected with the traveling device, the traveling device drives the robot body to travel under the driving of the driving mechanism, the cleaning mechanism carries out cleaning operation under the driving of the driving mechanism, the photovoltaic cleaning robot further comprises the infrared shutter sensor device, the infrared shutter sensor device comprises a first infrared shutter sensor assembly, a second infrared shutter sensor assembly and a third infrared shutter sensor assembly, wherein the number of the first infrared shutter sensor assembly is four, the four first infrared shutter sensor assemblies are respectively and fixedly arranged at four corners of a chassis in the robot body, the number of the second infrared shutter sensor assemblies is four, and the four second infrared shutter sensor assemblies are respectively and fixedly arranged at the front part and the rear part of the chassis in the robot body, the number of the third infrared shutter sensor assemblies is two, and the two third infrared shutter sensor assemblies are fixedly arranged on the left side and the right side of the chassis in the machine body respectively; through the states of the four first infrared shutter sensor assemblies, the four second infrared shutter sensor assemblies and the two third infrared shutter sensor assemblies, the current position of the photovoltaic cleaning robot can be smoothly judged, and the next action is guided, so that the photovoltaic cleaning robot can normally work on a photovoltaic array. Simultaneously, the first base in the first infrared shutter sensor subassembly, the second base in the second infrared shutter sensor subassembly and the third base in the third infrared shutter sensor subassembly all can be smoothly through the obstacle of a take the altitude to can guarantee that first dead lever is in first support, the second dead lever is in the second support and the third dead lever can slide from top to bottom in the third support, thereby trigger corresponding first sensor, second sensor, third sensor and fourth sensor.
Drawings
Fig. 1 is a schematic bottom view of a photovoltaic cleaning robot with an infrared shutter sensor device according to an embodiment of the present invention.
Fig. 2 is a schematic structural diagram of a photovoltaic cleaning robot with an infrared shutter sensor device walking on a photovoltaic panel array according to an embodiment of the present invention.
Fig. 3 is a schematic perspective view of a first infrared shutter sensor assembly in a photovoltaic cleaning robot having an infrared shutter sensor device according to an embodiment of the present invention.
Fig. 4 is a schematic front view of a first infrared shutter sensor assembly in a photovoltaic cleaning robot with an infrared shutter sensor device according to an embodiment of the present invention.
Fig. 5 is a schematic top view of a first infrared shutter sensor assembly in a photovoltaic cleaning robot having an infrared shutter sensor apparatus according to an embodiment of the present invention.
Fig. 6 is an exploded schematic view of a first infrared shutter sensor assembly in a photovoltaic cleaning robot having an infrared shutter sensor apparatus according to an embodiment of the present invention.
Fig. 7 is a schematic cross-sectional structural view illustrating that the sensing areas of the first sensor and the second sensor are blocked when the first infrared shutter sensor assembly is located on the frame of the photovoltaic panel array according to the embodiment of the present invention.
Fig. 8 is a schematic cross-sectional structural diagram illustrating a sensing area of a second sensor is blocked when the first infrared shutter sensor assembly is located on the working plane of the photovoltaic panel array according to an embodiment of the present invention.
Fig. 9 is a schematic cross-sectional structural view illustrating that the sensing areas of the first sensor and the second sensor are not shielded when the first infrared shutter sensor assembly is in a suspended state according to an embodiment of the present invention.
Fig. 10 is a schematic perspective view of a second infrared shutter sensor assembly in the photovoltaic cleaning robot with the infrared shutter sensor device according to the embodiment of the present invention.
Fig. 11 is a schematic front view of a second infrared shutter sensor assembly in the photovoltaic cleaning robot with the infrared shutter sensor device according to the embodiment of the present invention.
Fig. 12 is a schematic top view of a second infrared shutter sensor assembly in the photovoltaic cleaning robot with the infrared shutter sensor device according to the embodiment of the present invention.
Fig. 13 is an exploded schematic view of a second infrared shutter sensor assembly in the photovoltaic cleaning robot with the infrared shutter sensor device according to the embodiment of the present invention.
Fig. 14 is a schematic perspective view of a third infrared shutter sensor assembly in a photovoltaic cleaning robot having an infrared shutter sensor device according to an embodiment of the present invention.
Fig. 15 is a schematic front view of a third infrared shutter sensor assembly in the photovoltaic cleaning robot with the infrared shutter sensor device according to the embodiment of the present invention.
Fig. 16 is an exploded schematic view of a third infrared shutter sensor assembly in the photovoltaic cleaning robot with the infrared shutter sensor device according to the embodiment of the present invention.
Fig. 17 is a schematic top view of a third infrared shutter sensor assembly in the photovoltaic cleaning robot with the infrared shutter sensor device according to the embodiment of the present invention.
Detailed Description
The invention will be further described with reference to the drawings and specific examples.
As shown in fig. 1 to 17: the photovoltaic cleaning robot with the infrared shutter sensor device comprises a body 100, a driving mechanism, a traveling device and a cleaning mechanism are arranged on the body 100, the driving mechanism is electrically connected with the cleaning mechanism, the traveling device drives the body 100 to travel, the cleaning mechanism is driven by the driving mechanism to perform cleaning operation, the photovoltaic cleaning robot further comprises the infrared shutter sensor device, the infrared shutter sensor device comprises a first infrared shutter sensor assembly 200, a second infrared shutter sensor assembly 300 and a third infrared shutter sensor assembly 400, wherein the number of the first infrared shutter sensor assembly 200 is four, the four first infrared shutter sensor assemblies 200 are respectively and fixedly arranged at four corners of a chassis 101 in the body 100, the number of the second infrared shutter sensor assembly 300 is four, and the four second infrared shutter sensor assemblies 300 are respectively and fixedly arranged at the front part and the rear part of the chassis 101 in the body 100, the number of the third infrared shutter sensor units 400 is two, and the two third infrared shutter sensor units 400 are fixedly disposed at the left and right sides of the chassis 101 in the body 100, respectively.
The walking device comprises a crawler and a driving motor connected with the crawler, wherein the crawler comprises a left wheel crawler 102 and a right wheel crawler 103, the driving motor comprises a left wheel driving motor and a right wheel driving motor, the left wheel crawler 102 is arranged on the left side of the bottom of the machine body 100, the left wheel crawler 102 is driven by the left wheel driving motor to move, the right wheel crawler 103 is arranged on the right side of the bottom of the machine body 100, and the right wheel crawler 103 is driven by the right wheel driving motor to move.
Of the four first infrared shutter sensor assemblies 200, two first infrared shutter sensor assemblies 200 are disposed at the front end and the rear end of the inner sidewall of the left end of the main body 100, and the other two first infrared shutter sensor assemblies 200 are disposed at the front end and the rear end of the inner sidewall of the right end of the main body 100, respectively.
Each first infrared shutter sensor assembly 200 includes a first bracket 201, a first base 202, a first sensor 203, a second sensor 204, and a first spring (not shown), wherein:
the shape of first base 202 is the hemisphere, the fixed annular first supporting part 206 that is provided with in upper end of first base 202, first base 202 internal fixation is provided with first dead lever 207, the cover is equipped with first spring on the first dead lever 207, the shape of first support 201 is cylindrical, first support 201 overlaps on first supporting part 206 of first base 202 upper end through first spring 205, first sensor 203 and second sensor 204 set up the top at first support 201 respectively, and the fixed upper end that sets up at first sensor 203 of second sensor 204, first support 201, first sensor 203 and second sensor 204 and upwards extension are run through in proper order to the upper end of first dead lever 207.
The outer diameter of the first supporting portion 206 is equal to the outer diameter of an opening at the upper end of the first base 202, the first base 202 and the first supporting portion 206 are integrally formed, a first cylindrical cavity 208 is formed inside the first support 201, the inner diameter of the first support 201 is larger than the outer diameter of the first supporting portion 206, a first fixing portion 209 is fixedly arranged at the upper end inside the first cavity 208 in the first support 201, the lower end of a first spring 205 is fixedly arranged at the bottom of the first base 202, the upper end of the first spring is fixedly arranged at the lower surface of the first fixing portion 209, the first sensor 203 is arranged at the upper surface of the first fixing portion 209, the second sensor 204 is arranged at the upper surface of the first sensor 203, and the upper end of a first fixing rod 207 penetrates through a first positioning hole 210 formed in the first fixing portion 209 and extends upwards.
A first groove 211 is formed in the first sensor 203, an area inside the first groove 211 is a sensing area of the first sensor 203, the first groove 211 extends to one end of the first sensor 203 to enable the first sensor 203 to be in a concave shape, a second groove 212 corresponding to the first groove 211 is formed in the second sensor 204, an area inside the second groove 212 is a sensing area of the second sensor 204, the second groove 212 extends to one end of the second sensor 204 to enable the second sensor 204 to be in a concave shape, the upper end of the first fixing rod 207 is located in the first groove 211 and the second groove 212, a first sensor driving plate 213 is vertically arranged on the outer side wall of one end of the first sensor 203, and a second sensor driving plate 214 is vertically arranged on the outer side wall of one end of the second sensor 204.
In the first infrared shutter sensor assembly 200, a plurality of first mounting portions 215 are arranged in the circumferential direction of the lower portion of the outer side wall of the first bracket 201, the first mounting portions 215 are formed by extending the outer side wall of the first bracket 201 outwards, and the first mounting portions 215 and the first bracket 201 are integrally formed, so that the strength between the first mounting portions 215 and the first bracket 201 is improved. The first mounting portion 215 is provided with a first mounting hole 216 therein, and the first bracket 201 is fixedly connected to the chassis 101 of the body 100 through the plurality of first mounting portions 216, so that the firmness of combining the first infrared shutter sensor assembly 200 with the body 100 is improved, and the service life of the first infrared shutter sensor assembly 200 is prolonged.
Through the above design, the first bracket 201 is fixedly connected with the chassis 101 of the body 100, the lower end of the first fixing rod 207 is fixedly arranged inside the first base 202, and the first fixing rod 207 and the first base 202 can slide up and down in the first bracket 201; a first spring is sleeved on the first fixing rod 207, the lower end of the first spring is fixedly arranged in the first base 202, and the upper end of the first spring is fixedly arranged on the lower surface of a first fixing part 209 in the first bracket 201; because the first spring applies pressure to the first base 202, the bottom of the first base 202 can be ensured to be tightly attached to the cleaning operation plane, when the first infrared shutter sensor assembly 200 is in a suspended state, the first fixing piece 217 arranged at the upper end of the first fixing rod 207 is hooked in the first limiting groove 220 arranged on the first fixing portion 209, the first limiting groove 220 is matched with the first fixing piece 217 and communicated with the first positioning hole 210, and at the moment, the first fixing rod 207 and the first base 202 slide down to the lowest position. The first fixing plate 217 at the upper end of the first fixing rod 207 triggers the high level of the first sensor 203 or the high level of the second sensor 204 when the sensing area of the first sensor 203 or the sensing area of the second sensor 204 is shielded, that is, the first fixing plate 217 at the upper end of the first fixing rod 207 is designed to trigger the sensing area of the first sensor 203 or the sensing area of the second sensor 204. In addition, the shape of the first base 202 is hemispherical, that is, the outer surface of the first base 202 adopts a spherical design, so that the body 101 of the photovoltaic cleaning robot can smoothly pass through when encountering a certain height of obstacle in any direction, when encountering a step, the step and the horizontal force extruded by the first base 202 in the first infrared shutter sensor assembly 200 are converted into a vertical upward force through the spherical surface of the first base 202, so that the first fixing rod 207 is lifted, and a next step instruction is obtained through the feedback of the first sensor 203. Meanwhile, the first base 202 is made of an abrasion-resistant material to improve the abrasion resistance of the first base 202, so that the service lives of the first base 202 and the first infrared shutter sensor assembly 200 are prolonged.
Each of the second infrared shutter sensor assemblies 300 includes a second bracket 301, a second base 302, a third sensor 303, and a second spring, wherein:
the shape of second base 302 is the hemisphere, the fixed annular second supporting part 304 that is provided with in upper end of second base 302, second base 302 internal fixation is provided with second dead lever 305, the cover is equipped with the second spring on the second dead lever 305, second support 301 overlaps on the second supporting part 304 of second base 302 upper end through the second spring cover, third sensor 303 sets up the top at second support 301, the upper end of second dead lever 305 runs through first support 301 and third sensor 303 in proper order and upwards extends.
The outer diameter of the second supporting portion 304 is equal to the outer diameter of the opening at the upper end of the second base 302, the second base 302 and the second supporting portion 304 are integrally formed, a cylindrical second cavity 306 is arranged inside the second bracket 301, the inner diameter of the second bracket 301 is larger than the outer diameter of the second supporting portion 304, a second fixing portion 307 is fixedly arranged at the upper end inside the second cavity 306 in the second bracket 301, the lower end of a second spring is fixedly arranged at the bottom of the second base 302, the upper end of the second spring is fixedly arranged at the lower surface of the second fixing portion 307, the third sensor 303 is arranged at the upper surface of the second fixing portion 307, and the upper end of a second fixing rod 305 penetrates through a second positioning hole 308 arranged in the second fixing portion 307 and extends upwards;
a third groove 309 is formed in the third sensor 303, an area inside the third groove 309 is a sensing area of the third sensor 303, the third groove 309 extends to one end of the third sensor 303 to enable the third sensor 303 to be in a shape of a Chinese character 'ao', the upper end of the second fixing rod 305 is located in the third groove 309, and a third sensor driving plate 310 is vertically arranged on the outer side wall of one end of the third sensor 303.
In the second infrared shutter sensor assembly 300, a plurality of second mounting portions 311 are arranged on the lower portion of the outer side wall of the second bracket 301 in the circumferential direction, the second mounting portions 311 are formed by extending the outer side wall of the second bracket 301 outwards, and the second mounting portions 311 and the second bracket 301 are integrally formed, so that the strength between the second mounting portions 311 and the second bracket 301 is improved. The second mounting portion 311 is provided therein with a second mounting hole 312, and the second bracket 301 is fixedly connected to the chassis 101 of the main body 100 through the plurality of second mounting portions 311, so that the firmness of the combination of the second infrared shutter sensor assembly 300 and the main body 100 is improved, and the service life of the second infrared shutter sensor assembly 200 is prolonged.
Through the above design, the second bracket 301 is fixedly connected with the chassis 101 of the body 100, the lower end of the second fixing rod 305 is fixedly arranged inside the second base 302, and the second fixing rod 305 and the second base 302 can slide up and down in the second bracket 301; a second spring is sleeved on the second fixing rod 305, the lower end of the second spring is fixedly arranged in the second base 302, and the upper end of the second spring is fixedly arranged on the lower surface of a second fixing part 307 in the second bracket 301; because the second spring applies pressure to the second base 302, the bottom of the second base 302 can be ensured to be tightly attached to the cleaning operation plane, when the second infrared shutter sensor assembly 300 is in a suspended state, the second fixing piece 313 arranged at the upper end of the second fixing rod 305 is hooked in the second limiting groove 320 arranged on the second fixing portion 307, the second limiting groove 320 is matched with the second fixing piece 313 and communicated with the second positioning hole 308, and at this time, the second fixing rod 305 and the second base 302 slide down to the lowest position. The second fixing plate 313 at the upper end of the second fixing rod 305 triggers the high level of the third sensor 303 when the sensing area of the third sensor 303 is shielded, that is, the second fixing plate 313 at the upper end of the second fixing rod 305 is designed to trigger the sensing area of the third sensor 303. In addition, the shape of the second base 302 is hemispherical, that is, the outer surface of the second base 302 adopts a spherical design, so that the body 101 of the photovoltaic cleaning robot can smoothly pass through when encountering a certain height obstacle in any direction, when encountering a step, the step and the horizontal force extruded by the second base 302 in the second infrared shutter sensor assembly 300 are converted into a vertical upward force through the spherical surface of the second base 302, so that the second fixing rod 305 is lifted, and a next step instruction is obtained through the feedback of the third sensor 303. Meanwhile, the second base 302 is made of an abrasion-resistant material to improve the abrasion resistance of the second base 302, so that the service lives of the second base 302 and the second infrared shutter sensor assembly 300 are prolonged.
Each of the third infrared shutter sensor assemblies 400 includes a third bracket 401, a third base 402, a fourth sensor 403, and a third spring, wherein:
the shape of the third base 402 is hemispherical, a circular third supporting portion 404 is fixedly arranged at the upper end of the third base 402, a third fixing rod 405 is fixedly arranged in the third base 402, a third spring is sleeved on the third fixing rod 405, the third support 401 is sleeved on the third supporting portion 404 at the upper end of the third base 402 through the third spring, the fourth sensor 403 is arranged at the top of the third support 401, and the upper end of the third fixing rod 405 sequentially penetrates through the third support 401 and the fourth sensor 403 and extends upwards.
The outer diameter of the third supporting portion 404 is equal to the outer diameter of the opening at the upper end of the third base 402, the third base 402 and the third supporting portion 404 are integrally formed, a cylindrical third cavity 406 is arranged inside the third bracket 401, the inner diameter of the third bracket 401 is larger than the outer diameter of the third supporting portion 404, a third fixing portion 407 is fixedly arranged at the upper end inside the third cavity 406 in the third bracket 401, the lower end of a third spring is fixedly arranged at the bottom of the third base 402, the upper end of the third spring is fixedly arranged at the lower surface of the third fixing portion 407, the fourth sensor 403 is arranged at the upper surface of the third fixing portion 407, and the upper end of a third fixing rod 405 penetrates through a third positioning hole 408 arranged in the third fixing portion 407 and extends upwards;
a fourth groove 409 is formed in the fourth sensor 403, an area inside the fourth groove 409 is a sensing area of the fourth sensor 403, the fourth groove 409 extends to one end of the fourth sensor 403 so that the fourth sensor 403 is in a concave shape, the upper end of the third fixing rod 405 is located in the fourth groove 409, and a fourth sensor driving plate 410 is vertically arranged on the outer side wall of one end of the fourth sensor 403.
In the third infrared shutter sensor assembly 400, a plurality of third mounting portions 411 are arranged in the circumferential direction of the lower portion of the outer side wall of the third bracket 401, the third mounting portions 411 are formed by extending the outer side wall of the third bracket 401 outwards, and the third mounting portions 411 and the third bracket 401 are integrally formed, so that the strength between the third mounting portions 411 and the third bracket 401 is improved. The third mounting portion 411 is provided therein with a third mounting hole 412, and the third bracket 401 is fixedly connected to the chassis 101 of the body 100 through a plurality of third mounting portions 411, so that the firmness of the combination of the third infrared shutter sensor assembly 400 and the body 100 is improved, and the service life of the third infrared shutter sensor assembly 400 is prolonged.
Through the above design, the third bracket 401 is fixedly connected with the chassis 101 of the body 100, the lower end of the third fixing rod 405 is fixedly arranged inside the third base 402, and the third fixing rod 405 and the third base 402 can slide up and down in the third bracket 401; a third spring is sleeved on the third fixing rod 405, the lower end of the third spring is fixedly arranged in the third base 402, and the upper end of the third spring is fixedly arranged on the lower surface of a third fixing part 407 in the third bracket 401; because the third spring applies pressure to the third base 402, the bottom of the third base 402 can be ensured to be tightly attached to the cleaning operation plane, when the third infrared shutter sensor assembly 400 is in a suspended state, the third fixing plate 413 arranged at the upper end of the third fixing rod 405 is hooked in the third limiting groove 420 arranged on the third fixing portion 407, the third limiting groove 420 is matched with the third fixing plate 413 and communicated with the third positioning hole 408, and at this time, the third fixing rod 405 and the third base 402 slide down to the lowest position. The third fixing plate 413 at the upper end of the third fixing rod 405 triggers the high level of the fourth sensor 403 when shielding the sensing area of the fourth sensor 403, that is, the third fixing plate 413 designed at the upper end of the third fixing rod 405 is used for triggering the sensing area of the fourth sensor 403. In addition, the shape of the third base 402 is hemispherical, that is, the outer surface of the third base 402 is designed to be spherical, so that the body 101 of the photovoltaic cleaning robot can smoothly pass through any obstacle with a certain height in any direction, when the photovoltaic cleaning robot encounters a step, the step and the horizontal force, which is extruded by the third base 402 in the third infrared shutter sensor assembly 400, are converted into a vertical upward force through the spherical surface of the third base 402, so that the third fixing rod 405 is lifted, and a next instruction is obtained through the feedback of the fourth sensor 403. Meanwhile, the third base 402 is made of an abrasion resistant material to improve the abrasion resistance of the third base 402, thereby prolonging the service life of the third base 402 and the third infrared shutter sensor assembly 400.
When the first infrared shutter sensor assembly 200 runs on the working plane of the photovoltaic array, the first fixing plate 217 at the upper end of the first fixing rod 207 in the first infrared shutter sensor assembly 200 blocks the sensing area of the second sensor 204 in the first infrared shutter sensor assembly 200, but does not block the sensing area of the first sensor 203, and at this time, it is determined that the first infrared shutter sensor assembly 200 is on the working plane of the photovoltaic array. When the first infrared shutter sensor assembly 200 runs on the frame of the photovoltaic array, the first fixing plate 217 at the upper end of the first fixing rod 207 shields the sensing areas of the first sensor 203 and the second sensor 204, and at this time, it is determined that the first infrared shutter sensor assembly 200 is on the frame of the photovoltaic array. When the first infrared shutter sensor assembly 200 is suspended, the sensing areas of the two sensors (i.e., the first sensor 203 and the second sensor 204) are not blocked, and at this time, the suspension state is determined.
When the second infrared shutter sensor assembly 300 runs on the working plane of the photovoltaic array, the second fixing plate 313 at the upper end of the second fixing rod 305 in the second infrared shutter sensor assembly 300 blocks the sensing area of the third sensor 303, and at this time, the second infrared shutter sensor assembly 300 is determined to be on the working plane. When the second infrared shutter sensor assembly 300 runs or hangs on the frame of the photovoltaic array, the second fixing plate 313 at the upper end of the second fixing rod 305 does not block the sensing area of the third sensor 303, and at this time, it is determined that the second infrared shutter sensor assembly 300 is not on the working plane of the photovoltaic array.
When the third infrared shutter sensor assembly 400 operates on the frame of the photovoltaic array, the third fixing plate 413 at the upper end of the third fixing rod 405 in the third infrared shutter sensor assembly 400 blocks the sensing area of the fourth sensor 403, and it is determined that the third infrared shutter sensor assembly 400 is on the frame of the photovoltaic array. When the third infrared shutter sensor assembly 400 operates on the working plane of the photovoltaic array, the third fixing plate 413 at the upper end of the third fixing rod 405 does not shield the fourth sensor, and at this time, it is determined that the third infrared shutter sensor assembly 400 is not on the frame of the photovoltaic panel.
According to the photovoltaic cleaning robot with the infrared shutter sensor device, the current position of the photovoltaic cleaning robot can be smoothly judged and the next action is guided through the states of the ten infrared shutter sensor assemblies (namely four first infrared shutter sensor assemblies, four second infrared shutter sensor assemblies and two third infrared shutter sensor assemblies), so that the photovoltaic cleaning robot can be ensured to normally work on a photovoltaic array. Simultaneously, the first base in the first infrared shutter sensor subassembly, the second base in the second infrared shutter sensor subassembly and the third base in the third infrared shutter sensor subassembly all can be smoothly through the obstacle of a take the altitude to can guarantee that first dead lever is in first support, the second dead lever is in the second support and the third dead lever can slide from top to bottom in the third support, thereby trigger corresponding first sensor, second sensor, third sensor and fourth sensor.
Finally, it should be noted that: the above 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 will be understood by those of ordinary skill 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; and the modifications or the substitutions do not make the essence of the corresponding technical solutions depart from the scope of the technical solutions of the embodiments of the present invention.
Claims (10)
1. The utility model provides a photovoltaic cleaning machines people with infrared shutter sensor device, photovoltaic cleaning machines people includes the fuselage, be provided with actuating mechanism, running gear on the fuselage and clean the mechanism, running gear drives the fuselage and walks, clean the mechanism and carry out clean operation, its characterized in that under actuating mechanism's drive: the infrared shutter sensor device comprises a first infrared shutter sensor assembly, a second infrared shutter sensor assembly and a third infrared shutter sensor assembly, wherein the first infrared shutter sensor assembly is four in number and is fixedly arranged at four corners of a chassis in the machine body respectively, the second infrared shutter sensor assembly is four in number and is fixedly arranged at the front and the rear of the chassis in the machine body respectively, the third infrared shutter sensor assembly is two in number and is fixedly arranged at the left side and the right side of the chassis in the machine body respectively.
2. The photovoltaic cleaning robot with the infrared shutter sensor device according to claim 1, wherein the traveling device includes a crawler belt and a driving motor connected to the crawler belt, wherein the crawler belt includes a left wheel crawler belt and a right wheel crawler belt, the driving motor includes a left wheel driving motor and a right wheel driving motor, the left wheel crawler belt is disposed on the left side of the bottom of the body, the left wheel crawler belt is driven by the left wheel driving motor to move, the right wheel crawler belt is disposed on the right side of the bottom of the body, and the right wheel crawler belt is driven by the right wheel driving motor to move.
3. The photovoltaic cleaning robot with the infrared shutter sensor device according to any one of claims 1 to 2, wherein two of the four first infrared shutter sensor units are respectively disposed at a front end and a rear end of an inner side wall at a left end of the body, and the other two first infrared shutter sensor units are respectively disposed at a front end and a rear end of an inner side wall at a right end of the body.
4. The photovoltaic cleaning robot with infrared shutter sensor device of claim 3, wherein each of the first infrared shutter sensor assemblies comprises a first bracket, a first base, a first sensor, a second sensor and a first spring, wherein:
the shape of first base is the hemisphere, the fixed annular first supporting part of circle that is provided with in upper end of first base, first base internal fixation is provided with first dead lever, the cover is equipped with on the first dead lever first spring, first support passes through first spring housing is established on the first supporting part of first base upper end, first sensor and second sensor set up respectively the top of first support, just the second sensor is fixed to be set up the upper end of first sensor, the upper end of first dead lever runs through first support, first sensor and second sensor in proper order and upwards extends.
5. The photovoltaic cleaning robot with infrared shutter sensor device of claim 4, it is characterized in that the outer diameter of the first supporting part is equal to the outer diameter of the opening at the upper end of the first base, the first base and the first supporting part are integrally formed, a cylindrical first cavity is arranged in the first bracket, the inner diameter of the first support is larger than the outer diameter of the first support part, a first fixing part is fixedly arranged at the upper end of the first cavity in the first support, the lower end of the first spring is fixedly arranged at the bottom of the first base, the upper end of the first spring is fixedly arranged on the lower surface of the first fixing part, the first sensor is arranged on the upper surface of the first fixing part, and the second sensor is arranged on the upper surface of the first sensor, and the upper end of the first fixing rod penetrates through a first positioning hole arranged in the first fixing part and extends upwards.
6. The photovoltaic cleaning robot with the infrared shutter sensor device as claimed in claim 5, wherein a first groove is provided in the first sensor, the first groove extends to one end of the first sensor to make the first sensor have a shape of a Chinese character 'ao', a second groove corresponding to the first groove is provided in the second sensor, the second groove extends to one end of the second sensor to make the second sensor have a shape of a Chinese character 'ao', the upper end of the first fixing rod is located in the first groove and the second groove, a first sensor driving plate is vertically provided on an outer sidewall of one end of the first sensor, and a second sensor driving plate is vertically provided on an outer sidewall of one end of the second sensor.
7. The photovoltaic cleaning robot with infrared shutter sensor device of claim 3, wherein each of the second infrared shutter sensor assemblies comprises a second bracket, a second base, a third sensor and a second spring, wherein:
the shape of second base is the hemisphere, the fixed annular second supporting part that is provided with in upper end of second base, second base internal fixation is provided with the second dead lever, the cover is equipped with on the second dead lever the second spring, the second support passes through the second spring housing is established on the second supporting part of second base upper end, the third sensor sets up the top of second support, the upper end of second dead lever runs through first support and third sensor in proper order and upwards extends.
8. The photovoltaic cleaning robot with infrared shutter sensor device of claim 7, it is characterized in that the outer diameter of the second supporting part is equal to the outer diameter of the opening at the upper end of the second base, the second base and the second supporting part are integrally formed, a cylindrical second cavity is arranged in the second bracket, the inner diameter of the second support is larger than the outer diameter of the second support part, a second fixing part is fixedly arranged at the upper end of the inner part of the second cavity in the second support, the lower end of the second spring is fixedly arranged at the bottom of the second base, the upper end of the second spring is fixedly arranged on the lower surface of the second fixing part, the third sensor is arranged on the upper surface of the second fixing part, the upper end of the second fixed rod penetrates through a second positioning hole formed in the second fixed part and extends upwards;
the third sensor is provided with a third groove, the third groove extends to one end of the third sensor so that the third sensor is in a concave shape, the upper end of the second fixing rod is located in the third groove, and a third sensor driving plate is vertically arranged on the outer side wall of one end of the third sensor.
9. The photovoltaic cleaning robot with infrared shutter sensor device of claim 3, wherein each of the third infrared shutter sensor assemblies comprises a third bracket, a third base, a fourth sensor and a third spring, wherein:
the shape of third base is the hemisphere, the fixed annular third supporting part that is provided with in upper end of third base, third base internal fixation is provided with the third dead lever, the cover is equipped with on the third dead lever the third spring, the third support passes through the third spring housing is established on the third supporting part of third base upper end, the fourth sensor sets up the top of third support, the upper end of third dead lever runs through third support and fourth sensor in proper order and upwards extends.
10. The photovoltaic cleaning robot with the infrared shutter sensor device according to claim 9, wherein an outer diameter of the third support part is equal to an outer diameter of an upper end opening of the third base, the third base and the third support part are integrally formed, a cylindrical third cavity is provided inside the third support, and an inner diameter of the third support is larger than the outer diameter of the third support part;
a third fixing part is fixedly arranged at the upper end inside the third cavity in the third support, the lower end of the third spring is fixedly arranged at the bottom of the third base, the upper end of the third spring is fixedly arranged at the lower surface of the third fixing part, the fourth sensor is arranged at the upper surface of the third fixing part, and the upper end of the third fixing rod penetrates through a third positioning hole formed in the third fixing part and extends upwards;
the fourth sensor is provided with a fourth groove, the fourth groove extends to one end of the fourth sensor so that the fourth sensor is in a concave shape, the upper end of the third fixing rod is located in the fourth groove, and a fourth sensor driving plate is vertically arranged on the outer side wall of one end of the fourth sensor.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201922044231.3U CN211275614U (en) | 2019-11-22 | 2019-11-22 | Photovoltaic cleaning robot with infrared shutter sensor device |
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| CN201922044231.3U CN211275614U (en) | 2019-11-22 | 2019-11-22 | Photovoltaic cleaning robot with infrared shutter sensor device |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111482395A (en) * | 2019-11-22 | 2020-08-04 | 深圳怪虫机器人有限公司 | Photovoltaic board cleaning robot with infrared shutter sensor device |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111482395A (en) * | 2019-11-22 | 2020-08-04 | 深圳怪虫机器人有限公司 | Photovoltaic board cleaning robot with infrared shutter sensor device |
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