CN218902804U - Lightweight photovoltaic cleaning robot - Google Patents
Lightweight photovoltaic cleaning robot Download PDFInfo
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- CN218902804U CN218902804U CN202221733779.4U CN202221733779U CN218902804U CN 218902804 U CN218902804 U CN 218902804U CN 202221733779 U CN202221733779 U CN 202221733779U CN 218902804 U CN218902804 U CN 218902804U
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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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- 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
Abstract
The utility model discloses a lightweight photovoltaic cleaning robot and a control system thereof. The photovoltaic cleaning robot control system comprises an execution layer control system and a decision layer control system. The decision-making layer control system constructs a robot running environment map according to information acquired by the sensor, positions the current position of the robot and plans a cleaning path, sends a command to the execution layer control system to control the robot body structure to complete the cleaning process, and feeds back the acquired state information of the robot and external environment information to the decision-making layer control system to complete environment map updating, so that the cleaning robot can operate and maintain autonomously. Compared with the existing photovoltaic cleaning robot, the photovoltaic cleaning robot is further optimized in the aspects of control system, autonomous operation and maintenance capability, field adaptation capability, light mechanical structure, endurance capability and the like.
Description
Technical Field
The utility model belongs to the technical field of maintenance equipment of photovoltaic power stations, and particularly relates to a lightweight photovoltaic cleaning robot
Background
Photovoltaic modules are important core components of photovoltaic power generation systems, capable of collecting solar energy and converting it into electrical energy. With the wide application of photovoltaic power generation, the operation and maintenance work of photovoltaic modules is more and more important. The working environment of the photovoltaic module is outdoor, deposits such as dust deposit, leaves, snow accumulation, bird droppings and the like are easy to form on the surface of the photovoltaic module, shadow shielding is caused by pollution on the surface of the module, the temperature of the surface of the module is increased, solar radiation absorbed by the module is directly influenced, the deposits are one of key factors influencing the photovoltaic power generation efficiency, and the module is damaged when serious, so that the photovoltaic module plays an increasingly important role in regular operation and maintenance.
For the pollution on the surface of the photovoltaic module, the photovoltaic module is generally operated and maintained in a cleaning mode, and the photovoltaic module is roughly divided into four types: manual wiping, manual water washing, semi-automatic mechanical cleaning and automatic cleaning. The first three operation and maintenance modes all need to be manually operated, so that the labor cost is increased, and the potential safety hazard of workers is increased.
The washing causes a large amount of consumption of water resource, is not suitable for the lack of water area, and in the use, need strict requirement to the control of squirt pressure, if squirt pressure is too big, can increase photovoltaic module's rupture risk to reduce life. Automatic anhydrous cleaning equipment for photovoltaic modules has therefore evolved slowly. The utility model adopts the waterless rolling brush for cleaning.
Along with the development of scientific technology, the technology of cleaning equipment is combined with the technology of mobile robots, so that the method is a high-cost and high-efficiency power station maintenance scheme. The weight of mobile photovoltaic cleaning robots has been an important research problem affecting the development of this field. The utility model provides a lightweight photovoltaic cleaning robot for realizing the functions of higher operation and maintenance flexibility, stronger field adaptability, more convenient carrying and the like of the robot
Disclosure of Invention
In order to solve the defects, the utility model provides a light photovoltaic cleaning robot which is further optimized in the aspects of control system, autonomous operation and maintenance capability, field adaptation capability, light mechanical structure, endurance capability and the like compared with the existing photovoltaic cleaning robot. The technical scheme of the utility model is as follows:
the robot body structure comprises a crawler running mechanism, a cleaning mechanism and a lightweight bearing mechanism. The robot control system comprises an execution layer control system and a decision layer control system. The crawler travelling mechanism is connected into a whole through an aluminum profile connecting rod; the bearing mechanism is fixed on the aluminum profile connecting rod; the bottom end of the cleaning mechanism is fixedly connected with the crawler travelling mechanism through an aluminum profile connecting rod, and the upper end of the cleaning mechanism is fixedly connected with the bearing mechanism through a bolt and a nut; the robot body mechanism is driven by the execution layer control system; the execution layer control system is controlled by the decision layer control system.
The crawler-type travelling mechanism consists of two symmetrical crawler wheel assemblies and two aluminum profile support columns. The aluminum profile is connected with the side frame of the crawler wheel assembly through bolts to form a 'well' -shaped structure, and based on the structure, other parts are matched with the structure in sequence to realize the assembly of the whole travelling mechanism. The total components of the whole crawler wheel are a front wheel transmission system, a rear wheel transmission system and a bearing wheel system.
The front wheel transmission system consists of a front guide wheel, a front shaft and a tensioning device. The tensioning device consists of a tensioning bolt, a bolt seat and a tensioning supporting plate. The concrete assembly and tensioning process are as shown in the enlarged view of the part in the figure, 2 tensioning support plates are respectively connected with the inner side and the outer side of the side frame through bolts, U-shaped sliding grooves are designed in the tensioning support plates, tensioning bolts are screwed into bolt seats, the bottoms of the bolts prop against the bending parts of the tensioning support plates, and the front shafts fixed on the tensioning support plates can move back and forth through adjusting the tensioning bolts, so that the purpose of tensioning the crawler belt is achieved. The front guide wheel is fixed on the front shaft in an interference fit manner, the front belt wheel and the rear belt wheel are wrapped by the thickened synchronous crawler belt, and the gear teeth are meshed with the synchronous belt to realize power transmission.
The rear wheel transmission system comprises a walking motor, a rear shaft, 2 rear wheel bearings and 2 rear supporting plates, wherein the two rear supporting plates are identical in size and shape, the rear supporting plates are fixedly arranged on the inner side (the side where the walking motor is positioned) and the outer side of the side frame through bolt connection, the 2 rear wheel bearings are respectively fixed on the supporting plates on the inner side and the outer side, the rear shaft is supported, and the motor output end is matched with the rear shaft through a flat key to drive the rear shaft to rotate. The rear axle is matched with the rear driving wheel by using a flat key to transmit power.
The bearing wheel system consists of 4 bearing wheel shafts fixed on the side frames and 4 nylon bearing wheels in clearance fit with the bearing wheel shafts, the bearing of the belt wheels is dispersed, and the trafficability of the robot is improved.
The cleaning mechanism is based on 2 aluminum profile connecting rods with the same size and is connected with 2 rolling brush supporting plates to serve as a main body frame. The round brush motor passes through round brush motor support frame installation and fixes on the bottom plate front end, motor output shaft passes through elastic coupling and links to each other transmission power with round brush transmission shaft, the transmission shaft other end cooperates with the bearing of fixing at the round brush backup pad, in order to support the transmission shaft, the keyway is seted up to the transmission shaft afterbody, pass through flat key transmission power to round brush band pulley, the teeth of a cogwheel of band pulley and the meshing of round brush track are with power transmission to preceding band pulley, the track adopts the take-up pulley to carry out tensioning, preceding band pulley passes through flat key hookup and drives round brush axle rotation, two radial through-holes are offered at round brush axle left and right sides, the through-hole is offered at both ends about also to hollow round brush, pass both ends through-hole and utilize the nut to screw through the bolt, realize the fixed and the cooperation of round brush.
The whole mechanism is fixedly connected with the crawler-type travelling mechanism by utilizing an aluminum profile connecting rod, and the aluminum profile connecting rods are fixedly connected with the connecting corner pieces through T-shaped corner pieces.
The bearing mechanism is designed into a double-layer form, the lower layer is designed into a bent aluminum alloy bottom plate, and the lower layer is fixed on a connecting rod of the crawler travelling mechanism through bolts, and is mainly used for placing a circuit board, a battery and a motor driver; the upper layer is designed as a flat plate made of transparent acrylic material, and mainly used for placing hardware such as a laser radar, an embedded hardware layer and the like.
The execution layer control system comprises a main control core, a motor driving unit and a signal sensing unit. The main control core is a singlechip; the motor driving unit comprises a walking motor driving unit and a rolling brush motor driving unit; the signal sensing unit comprises a gesture and speed sensing unit and a boundary sensing unit. The single chip microcomputer sends control signals to the walking motor driving unit and the rolling brush motor unit to control the cleaning robot to complete walking and cleaning. And the state information and the external environment information of the cleaning robot are collected through the gesture and speed sensing unit and the boundary sensing unit so as to ensure the safe and reliable operation of the robot.
The decision layer control system consists of a master controller and a slave controller, which exchange data through a local area network. The method comprises the steps that a main controller processes and analyzes collected information, fusion positioning of a cleaning robot is conducted by utilizing data collected by an IMU and an odometer, a layered cost map of a cleaning area is built by utilizing data collected by sensors such as a laser radar and a proximity switch, global path planning and local path planning are completed based on an A-based algorithm and a DWA algorithm and according to the current position of the cleaning robot and the layered cost map, then a control instruction is sent to a slave controller, the slave controller sends an instruction to an executive layer control system by adopting a wireless serial port so as to control the walking and cleaning of the robot, and the collected data is transmitted to the main controller so as to update the cost map, so that autonomous operation and maintenance of the cleaning robot are achieved.
The working area of the cleaning robot needs to be constructed with an environment map so that the robot can conduct path planning in the map. The map representation method based on the occupied grid map comprises a static map layer, an obstacle layer, an expansion layer and a photovoltaic array boundary layer. The static map layer is a blank map layer which is wider than the cleaning area and is used for positioning other obstacles or the boundary of the photovoltaic array; the obstacle layer subscribes to the data topics collected by the laser radar, when obstacle information is received, the obstacle information is placed in a corresponding grid and marked as an occupied state, and the grid between the laser radar and the obstacle is marked as a free state. The expansion layer is a map layer which expands according to the size of the cleaning robot based on static or dynamic obstacle information acquired by the laser radar and gives different cost values to the obstacles at different distances; the photovoltaic array boundary layer is a virtual obstacle map layer which does not participate in expansion and contains photovoltaic array boundary information.
The autonomous operation and maintenance of the cleaning robot adopts a full-coverage cleaning strategy based on multi-point cruising. The cleaning robot adopts an arc-shaped cleaning path, sets target points at positions close to the array boundary according to the size of the array boundary, the length of the robot and the length of the rolling brush, starts moving from the outermost side of the map, traverses each target point in sequence, finally returns to the starting point, realizes full-coverage cleaning of the map, and judges whether to clean again according to the information of the photovoltaic array monitoring system.
The utility model has the beneficial effects that:
(1) The aluminum profile is connected with the side frame of the crawler wheel assembly through bolts to form a 'well' -shaped structure, and based on the structure, other parts are matched with the structure in sequence to realize the assembly of the whole travelling mechanism.
(2) By adopting the crawler travelling mechanism and installing the parallel bearing wheels, the photovoltaic cleaning robot is ensured not to slip during operation.
(3) Through adjusting tensioning bolt for fix the front axle in tensioning backup pad and can carry out the regulation of back-and-forth movement, thereby realize track tensioning's purpose, be convenient for install, dismantle and real-time the regulation.
(4) Through installing the round brush motor in the bottom plate front end backup pad, link to each other transmission power through elastic coupling and round brush transmission shaft, the keyway is seted up to the transmission shaft afterbody and is passed through the flat key transmission power to round brush band pulley, realizes the tensioning of transmission track through the take-up pulley to the firm and round brush pivoted stability of round brush motor installation has been guaranteed.
(5) By adopting the execution layer control system and the decision layer control system to cooperatively construct a photovoltaic cleaning robot running environment map, the current position of the robot is accurately positioned, the planning of a cleaning path of the robot is realized, and the autonomous operation and maintenance of the cleaning robot are realized.
(6) The decision layer control system consists of a master controller and a slave controller, and coordinates and disperses the control of the robots. The adoption of the decentralized control mode is beneficial to reducing the performance requirement on the controller and beneficial to the system maintenance of the photovoltaic cleaning robot.
(7) And the integrated positioning of the photovoltaic cleaning robot is carried out through the data acquired by the IMU and the odometer, so that the positioning precision of the robot is improved.
(8) By constructing a layered cost map and adopting a full-coverage cleaning strategy based on multi-point cruising, the safety and cleaning efficiency of the robot cleaning process are improved.
Drawings
FIG. 1 is a schematic view of a lightweight photovoltaic cleaning robot;
FIG. 2 is a schematic side view of a track wheel assembly;
FIG. 3 is a schematic top view of a crawler travel mechanism;
FIG. 4 is a schematic view of a sweeping mechanism;
FIG. 5 is a schematic diagram of a control system of the cleaning robot;
fig. 6 is a hierarchical cost map configuration scheme.
Detailed Description
The utility model is further described below with reference to the accompanying drawings. The following examples are only for more clearly illustrating the technical aspects of the present utility model, and are not intended to limit the scope of the present utility model.
As shown in fig. 1, which is a schematic structural diagram of a lightweight photovoltaic cleaning robot, the upper plate (30) is designed as a flat plate made of transparent acrylic material, and mainly comprises hardware such as a laser radar, an embedded hardware layer control switch and the like, and a fixing hole is reserved for the hardware. The bottom plate (31) is designed to be bent to 90-degree aluminum alloy plates, is fixed on an aluminum profile connecting rod of the crawler belt travelling mechanism through four bolts, and is provided with horizontal plate surface reserved holes for placing a circuit board, a battery, a motor driver and the like, and vertical plate surface reserved holes for fixing a rolling brush motor (21).
As shown in fig. 3, a schematic top view structure of the crawler travelling mechanism is shown, and the crawler travelling mechanism is composed of two symmetrical crawler wheel assemblies, an aluminum profile (14) and an aluminum profile (15). The aluminum profile is connected with a side frame (5) of the crawler wheel assembly through bolts to form a 'well' -shaped structure, and based on the structure, other parts are matched with the structure in sequence to realize the assembly of the whole travelling mechanism.
In order to ensure portability of the cleaning robot, the whole travelling mechanism is made of aluminum alloy materials except a motor, a crawler belt and a bolt, has the characteristics of small density and high strength, and is very suitable for being used by automatic equipment. The aluminum alloy side frame is a hollow rectangular aluminum alloy pipe with the wall thickness of 5mm, and is not easy to deform under the influence of the tension of the crawler belt.
As shown in fig. 2, the side of the crawler wheel assembly is shown, and the total components of the whole crawler wheel are a front wheel transmission system, a rear wheel transmission system and a bearing wheel system.
The front wheel transmission system consists of a front guide wheel (1), a front shaft (11) and a tensioning device. The tensioning device consists of a tensioning bolt (4), a bolt seat (3) and a tensioning supporting plate (2). The concrete assembly and tensioning process are as shown in the enlarged partial view of fig. 2, 2 tensioning support plates are respectively connected with the inner side and the outer side of the side frame through bolts, a U-shaped chute is formed in each tensioning support plate, each tensioning bolt is screwed into a bolt seat, the bottom of each bolt props against the bending part of each tensioning support plate, and the front shaft fixed on each tensioning support plate can move forwards and backwards through adjusting the tensioning bolts, so that the purpose of tensioning the crawler belt is achieved. The front guide wheel is fixed on the front shaft in an interference fit manner, the front belt wheel and the rear belt wheel are wrapped by the thickened synchronous crawler belt, and the gear teeth are meshed with the synchronous belt to realize power transmission.
The rear wheel transmission system consists of a walking motor (13), a rear shaft (10), 2 rear wheel bearings (12) and 2 rear support plates (8). The rear supporting plate (8) is fixedly arranged on the inner side and the outer side of the side frame (the inner side is the direction of the walking motor), the 2 rear wheel bearings (12) are respectively fixed on the supporting plates on the inner side and the outer side, the rear shaft (10) is supported, and the output end of the motor is matched with the rear shaft through a flat key to drive the rear shaft to rotate. The rear axle is assembled with the rear driving wheel by using a flat key to transmit power.
The bearing wheel system is in clearance fit with the bearing wheels (6) made of 4 nylon materials through the 4 bearing wheel shafts (7) fixed on the side frames respectively so as to disperse the bearing of the belt wheels and improve the trafficability of the robot.
As shown in FIG. 4, the cleaning mechanism is based on 2 cleaning mechanisms with the same sizeFirst oneAluminum profile connecting rod(20) 2 rolling brush support plates (18) are connected as main body frames. The rolling brush motor (21) is arranged and fixed on the front end of the bottom plate (31) through the rolling brush motor supporting frame (22).
The motor output shaft passes through elastic coupling (23) and links to each other transmission power with round brush transmission shaft (24), the transmission shaft other end cooperates with the bearing of fixing at round brush backup pad (18) to prop up the transmission shaft, the keyway is offered to the transmission shaft afterbody and is passed through flat key transmission power to round brush band pulley (19), the meshing of the teeth of a cogwheel and round brush track (27) will power transmission to preceding band pulley, the tensioning of band pulley uses the flat key on tensioning wheel (26) preceding band pulley dependence round brush shaft (36) tail end and axle cooperation to drive round brush shaft rotation, round brush shaft left and right sides both ends design two radial through-holes, hollow round brush (32) also offer the through-hole at left and right sides both ends, pass both ends through-hole and utilize the nut through the bolt, fix and cooperate of screwing.
The whole mechanism utilizes aluminum profiles and crawler-type travelling mechanismsSecond oneAluminum profile connecting rod (33)Third stepThe two mechanisms are combined through the connection of the aluminum profile connecting rods (34), and the aluminum profile connecting rods are fixed through T-shaped corner connectors and connecting corner pieces (29).
As shown in fig. 5, the cleaning robot control system is divided into an execution layer control system and a decision layer control system. The execution layer control system comprises a main control core, a motor driving unit and a signal sensing unit. And the STM32 singlechip microprocessor is used as a main control chip to control the motor driving unit and the signal sensing unit. The speed of the left and right travelling motors and the speed of the rolling brush motor are controlled by adjusting the PWM duty ratio, so that the robot can directly move, differentially steer and adjust the cleaning rate. The state information (speed, current and the like) and the external environment information (boundary, position and the like) of the robot are acquired through the control signal sensing unit so as to ensure the safe and reliable operation of the robot.
The decision layer control system consists of a master controller PC and a slave controller embedded hardware layer, which exchange data through a local area network. The method comprises the steps that a master controller PC processes and analyzes collected information, fusion positioning of a cleaning robot is conducted by utilizing data collected by an IMU and an odometer, a layered cost map of a cleaning area is built by utilizing data collected by sensors such as a laser radar and a proximity switch, global path planning and local path planning are completed based on an A-based algorithm and a DWA algorithm and according to the current position of the cleaning robot and the layered cost map, then a control instruction is sent to a slave controller, an embedded hardware layer of the slave controller adopts a wireless serial port to send the instruction to an executive layer control system so as to control the robot to walk and clean, and the collected data is transmitted to the master controller PC so as to update the cost map, so that autonomous operation and maintenance of the cleaning robot are achieved.
As shown in fig. 6, a layered cost map configuration scheme is shown, where the layered cost map includes a static map layer, an obstacle layer, an expansion layer, and a photovoltaic array boundary layer. The static map layer is a blank map layer which is wider than the cleaning area and is used for positioning other obstacles or the boundary of the photovoltaic array; the obstacle layer subscribes to the data topics collected by the laser radar, when obstacle information is received, the obstacle information is placed in a corresponding grid and marked as an occupied state, and the grid between the laser radar and the obstacle is marked as a free state. The expansion layer is a map layer which expands according to the size of the cleaning robot based on static or dynamic obstacle information acquired by the laser radar and gives different cost values to the obstacles at different distances; the photovoltaic array boundary layer is a virtual obstacle map layer which does not participate in expansion and contains photovoltaic array boundary information. The autonomous operation and maintenance of the cleaning robot adopts a full-coverage cleaning strategy based on multi-point cruising. The cleaning robot adopts an arc-shaped cleaning path, sets target points at positions close to the array boundary according to the size of the array boundary, the length of the robot and the length of the rolling brush, starts moving from the outermost side of the map, traverses each target point in sequence, finally returns to the starting point, and achieves full-coverage cleaning of the map.
The foregoing is merely a preferred embodiment of the present utility model, and it should be noted that modifications and variations could be made by those skilled in the art without departing from the technical principles of the present utility model, and such modifications and variations should also be regarded as being within the scope of the utility model.
Claims (8)
1. The lightweight photovoltaic cleaning robot is characterized by comprising a robot body structure, wherein the robot body structure comprises a crawler travelling mechanism, a cleaning mechanism and a lightweight bearing mechanism, and the crawler travelling mechanism is connected into a whole through an aluminum profile connecting rod; the bearing mechanism is fixed on the aluminum profile connecting rod; the bottom end of the cleaning mechanism is fixedly connected with the crawler travelling mechanism, and the upper end of the cleaning mechanism is fixedly connected with the bearing mechanism.
2. The lightweight photovoltaic cleaning robot according to claim 1, wherein the crawler travel mechanism is composed of two symmetrical crawler wheel assemblies and aluminum profiles, the aluminum profiles are connected with side frames (5) of the crawler wheel assemblies through bolts to form a 'well' -shaped structure, based on the structure, other parts are matched with the structure in sequence, the assembly of the whole crawler travel mechanism is achieved, and the total components of the whole crawler wheel are a front wheel transmission system, a rear wheel transmission system and a bearing wheel system.
3. The light photovoltaic cleaning robot according to claim 2, wherein the front wheel transmission system consists of a front guide wheel (1), a front shaft (11) and a tensioning device, wherein the tensioning device consists of tensioning bolts (4), bolt seats (3) and tensioning support plates (2), the 2 tensioning support plates are respectively connected with the inner side and the outer side of the side frame through bolts, U-shaped sliding grooves are designed in the tensioning support plates, the tensioning bolts are screwed into the bolt seats, the bottoms of the bolts prop against bending parts of the tensioning support plates, the front shaft fixed on the tensioning support plates can move back and forth through adjusting the tensioning bolts, the purpose of adjusting the tightness degree of a crawler belt is achieved, the front guide wheel is fixed on the front shaft in an interference fit mode, the front and rear belt wheels are wrapped by thickened synchronous crawler belts, and power transmission is achieved through meshing of gear teeth and synchronous crawler belts.
4. The lightweight photovoltaic cleaning robot according to claim 2, wherein the rear wheel transmission system is composed of a walking motor (13), a rear shaft (10), 2 rear wheel bearings (12) and 2 rear support plates (8), the rear support plates (8) are fixed on the inner side and the outer side of the side frame through bolt connection, the 2 rear wheel bearings are respectively fixed on the support plates on the inner side and the outer side so as to support the rear shaft, the motor output end is matched with the rear shaft through a flat key to drive the rear shaft to rotate, and the rear shaft is matched with the rear driving wheel through the flat key to transmit power.
5. A lightweight photovoltaic cleaning robot according to claim 2, characterized in that the load bearing wheel system consists of 4 load bearing wheel shafts (6) fixed to the side frames and 4 nylon load bearing wheels (7) in a clearance fit.
6. The lightweight photovoltaic cleaning robot according to claim 1, wherein the cleaning mechanism is based on 2 first aluminum profile connecting rods (20) with the same size, wherein the 2 rolling brush supporting plates (18) are connected as a main body frame, a rolling brush motor (21) is installed and fixed at the front end of a bottom plate through a rolling brush motor supporting frame (22), a motor output shaft is connected with a rolling brush transmission shaft (24) through an elastic coupling (23) to transmit power, the other end of the transmission shaft is matched with a bearing fixed on the rolling brush supporting plate (18), so as to support the transmission shaft, a key groove is formed at the tail of the transmission shaft to transmit power to a rolling brush belt wheel (19) through a flat key, the gear teeth of the belt wheel are meshed with a rolling brush crawler belt (27) to transmit power to a front belt wheel, tensioning of the crawler belt is realized through a tensioning wheel (26), the front belt wheel is matched with a shaft to drive the rolling brush shaft to rotate through a flat key on the tail end of a rolling brush shaft, two radial through holes are formed at the left end and right end of the rolling brush shaft, through holes are formed at the left end and right end of the hollow rolling brush (32) are also formed through holes, through bolts pass through the through holes and nuts are utilized to realize fixation and matching.
7. The lightweight photovoltaic cleaning robot according to claim 1, characterized in that the whole mechanism is fixedly connected with the crawler running mechanism by a second aluminum profile connecting rod (33) and a third aluminum profile connecting rod (34), and the aluminum profile connecting rods are fixedly connected through a T-shaped corner connector and a connecting corner fitting (29).
8. The lightweight photovoltaic cleaning robot according to claim 1, wherein the bearing mechanism is designed into a double-layer form, the lower layer (31) is designed into a bent aluminum alloy bottom plate, the lower layer is fixed on a connecting rod of the crawler traveling mechanism through bolts, a circuit board, a battery and a motor driver are mainly placed, the upper layer (30) is designed into a flat plate made of transparent acrylic material, and hardware such as a laser radar, an embedded hardware layer and the like are mainly placed.
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| CN202221733779.4U CN218902804U (en) | 2022-07-07 | 2022-07-07 | Lightweight photovoltaic cleaning robot |
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| CN202221733779.4U CN218902804U (en) | 2022-07-07 | 2022-07-07 | Lightweight photovoltaic cleaning robot |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117282697A (en) * | 2023-11-21 | 2023-12-26 | 德通建设集团有限公司 | End surface cleaning system for outer-elevation rock plate and use method |
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2022
- 2022-07-07 CN CN202221733779.4U patent/CN218902804U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117282697A (en) * | 2023-11-21 | 2023-12-26 | 德通建设集团有限公司 | End surface cleaning system for outer-elevation rock plate and use method |
| CN117282697B (en) * | 2023-11-21 | 2024-02-06 | 德通建设集团有限公司 | End surface cleaning system for outer-elevation rock plate and use method |
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