Photovoltaic robot walking mechanism

Abstract

This application relates to a photovoltaic robot walking mechanism, specifically to the technical field of photovoltaic panel cleaning. The photovoltaic robot walking mechanism includes a guide rail, rollers, driven wheels, auxiliary wheels, and a drive assembly. The guide rail is mounted on both opposite side walls of the photovoltaic panel, with a guide groove on one of the opposite sides. The rollers are mounted on the robot body and roll within the two sets of guide grooves. Two sets of driven wheels roll within the two sets of guide grooves. The auxiliary wheel is rotatably mounted on the robot body and located directly above the guide rail, limiting the distance between the robot body and the photovoltaic panel. The drive assembly synchronously drives the two sets of rollers to rotate. This application uses the drive assembly to simultaneously rotate the two sets of rollers, thereby moving the robot body along the guide rail. The driven wheels and rollers cooperate to improve the stability of the robot body, and the auxiliary wheel limits the distance between the robot body and the photovoltaic panel, ultimately improving the stability of the photovoltaic robot when walking on inclined photovoltaic panels.

Description

Technical Field

[0001] This application relates to the technical field of photovoltaic panel cleaning, and in particular to a photovoltaic robot walking mechanism. Background Technology

[0002] A photovoltaic (PV) robot is an automated device used for cleaning, inspecting, or maintaining photovoltaic (PV) panels. It can replace manual labor in tasks such as dust removal and snow removal from PV panel surfaces, thereby improving power generation efficiency and reducing maintenance costs. With the large-scale application of photovoltaic power generation, PV robots, due to their high efficiency and stability, are gradually becoming important tools for the operation and maintenance of PV power plants. A PV robot mainly consists of a robot body, a cleaning mechanism, and a walking mechanism. The cleaning mechanism moves with the robot body on the PV panel and is used to clean the surface of the PV panel. The walking mechanism is mounted on the robot body and is used to drive the robot body to move on the PV panel.

[0003] Currently, a cleaning robot for cleaning photovoltaic panels, with publication number CN222785955U, has a walking mechanism that mainly includes a second drive motor, a rotating rod, a drive gear, and a rack. The second drive motor drives the rotating rod to rotate, which in turn drives the drive gear to rotate. Through the meshing of the drive gear and the rack, the cleaning robot moves on the photovoltaic panel.

[0004] In practical applications, in order to improve the working efficiency of photovoltaic panels, they are mostly set at an angle. Although the meshing of gears and racks can drive the robot body to move on the photovoltaic panel, the robot body itself is prone to sliding down due to its own weight, which reduces the meshing degree of the gears and racks, making it difficult for the photovoltaic robot to move on the angled photovoltaic panel, and ultimately reducing the stability of the photovoltaic robot when walking on the angled photovoltaic panel. Utility Model Content

[0005] To improve the stability of photovoltaic robots when walking on tilted photovoltaic panels, this application provides a photovoltaic robot walking mechanism.

[0006] The photovoltaic robot walking mechanism provided in this application adopts the following technical solution: A photovoltaic robot walking mechanism includes guide rails, rollers, driven wheels, auxiliary wheels, and a drive assembly. Two sets of guide rails are symmetrically arranged on opposite side walls of the photovoltaic panel. Guide grooves are formed on the opposite side of each guide rail. The two sets of rollers are rotatably mounted on the robot body and roll within the two sets of guide grooves, with the roller axes perpendicular to the surface of the photovoltaic panel. The two sets of driven wheels are rotatably mounted on the robot body and roll within the two sets of guide grooves, with the driven wheels located behind the rollers to improve the stability of the robot body. The auxiliary wheels are rotatably mounted on the robot body and located directly above the guide rails. The axis of the auxiliary wheels is perpendicular to the axis of the rollers and is used to limit the distance between the robot body and the photovoltaic panel. The drive assembly is mounted on the robot body and is used to synchronously drive the two sets of rollers to rotate.

[0007] By adopting the above technical solution, the drive component simultaneously drives two sets of rollers to rotate, thereby moving the robot body on the guide rail. The driven wheel and the roller cooperate with each other to improve the stability and anti-tipping ability of the robot body. The auxiliary wheel limits the distance between the robot body and the photovoltaic panel, ultimately improving the stability of the photovoltaic robot when walking on the tilted photovoltaic panel.

[0008] Furthermore, an adjustment assembly is provided on the guide rail on one side of the bottom of the photovoltaic panel to make the roller abut against the guide rail, the adjustment assembly including: A sliding bar is slidably disposed on a guide rail in a direction close to or away from the bottom of the guide groove, and the sliding bar rolls against a roller. A damper is disposed between the bottom of the guide groove and the sliding bar and is used to dampen the sliding of the sliding bar; The first compression spring is sleeved on the damper and its two ends are respectively pressed against the guide groove and the sliding bar. The first compression spring is used to push the sliding bar to press against the roller.

[0009] By adopting the above technical solution, the damper and the first compression spring push the sliding strip to slide in the guide groove, thereby dynamically adjusting the clamping force between the roller and the guide groove, preventing the roller at the bottom of the photovoltaic panel from disengaging from the guide groove, and improving walking stability.

[0010] Furthermore, multiple sets of protrusions are spaced apart along the length direction on the side wall of the sliding strip, and a limiting groove is provided on the guide rail to facilitate the sliding of the protrusions. The multiple sets of protrusions are slidably arranged in the limiting groove and prevent the sliding strip from shifting to one side.

[0011] By adopting the above technical solution, multiple sets of bumps disperse lateral forces, preventing the sliding strip from tilting due to uneven force, while ensuring that the sliding strip moves smoothly in the vertical direction, maintaining uniform pressure on the roller contact surface, and reducing wear.

[0012] Furthermore, a groove is formed on the upper surface of the guide rail to cooperate with the auxiliary wheel. The auxiliary wheel is rolled in the groove and the width of the groove is greater than the width of the auxiliary wheel.

[0013] By adopting the above technical solution, the width of the chute is greater than the width of the auxiliary wheel, which allows the auxiliary wheel to move slightly laterally within the chute, absorbing the lateral force caused by installation errors or deformation, while avoiding the resistance generated by the rigid contact between the auxiliary wheel and the side wall of the chute, thus reducing energy consumption.

[0014] Furthermore, the robot body is equipped with a cleaning assembly for cleaning impurities in the guide groove, the cleaning assembly comprising: The mounting block is slidably disposed on the robot body along the direction of approaching or away from the bottom of the guide groove; A scraper blade is detachably mounted on the mounting block by bolts and slides in contact with the bottom of the guide groove or the sliding strip. The scraper blade is used to scrape off impurities on the bottom of the guide groove or the sliding strip. The scraper blade is located at the front end of the roller in the forward direction. A second compression spring is mounted on the robot body and is used to push the scraper on the mounting block against the bottom of the guide groove. The elastic coefficient of the second compression spring is smaller than that of the first compression spring.

[0015] By adopting the above technical solution, the front-mounted scraper design allows the roller to pass in front to remove impurities, preventing the roller from slipping or getting stuck. At the same time, the elastic coefficient of the second compression spring is less than that of the first compression spring, ensuring that the scraper only removes impurities without interfering with the position of the sliding strip.

[0016] Furthermore, the guide rail at the top of the photovoltaic panel is provided with a discharge port to facilitate the timely discharge of scraped impurities. The discharge ports are spaced apart on the side wall of the guide rail near the ground and are connected to the bottom of the guide groove.

[0017] By adopting the above technical solution, the scraped impurities are automatically discharged by gravity, avoiding the accumulation of impurities that affect the scraping efficiency, and ultimately reducing the impurity content at the bottom of the guide groove.

[0018] Furthermore, the roller is provided with anti-slip texture.

[0019] By adopting the above technical solution, the roller makes rolling contact with the bottom of the guide groove or the sliding strip through the anti-slip texture, reducing the probability of roller slippage and ensuring driving efficiency.

[0020] Furthermore, the driving component includes: A drive shaft, which is rotatably mounted on the robot body; The first bevel gear, and two sets of the first bevel gears are symmetrically arranged at both ends of the drive shaft; The second bevel gear is mounted on the fixed shaft of the roller and meshes with the first bevel gear. When the drive shaft rotates, it synchronously drives the two sets of rollers to rotate through the first bevel gear and the second bevel gear. A drive motor is mounted on the robot body and is used to drive the drive shaft to rotate.

[0021] By adopting the above technical solution, the drive motor drives the drive shaft to rotate, and then the drive shaft simultaneously drives the two sets of first bevel gears to rotate. Then, through the meshing of the first bevel gears and the second bevel gears, the two sets of rollers are driven to rotate synchronously, thereby driving the robot body to move on the photovoltaic panel.

[0022] In summary, this application includes at least one of the following beneficial technical effects: 1. By driving two sets of rollers to rotate simultaneously through a drive motor, the robot body moves on the guide rail. The driven wheel and rollers cooperate with each other to improve the stability of the robot body. The auxiliary wheel limits the distance between the robot body and the photovoltaic panel, which improves the stability of the photovoltaic robot when walking on the tilted photovoltaic panel.

[0023] 2. The first compression spring keeps the sliding bar pressed against the roller on the bottom side of the photovoltaic panel, thereby dynamically adjusting the clamping force between the roller and the guide groove, preventing the roller at the bottom of the photovoltaic panel from disengaging from the guide groove, and improving walking stability. Attached Figure Description

[0024] Figure 1 This is a structural schematic diagram of the photovoltaic robot walking mechanism and photovoltaic panel of this application, in which a section view is provided of part of the photovoltaic panel and guide rail; Figure 2 This is a structural schematic diagram of the photovoltaic robot walking mechanism of this application; Figure 3 yes Figure 1 A cross-sectional schematic diagram of AA in the middle; Figure 4 yes Figure 3 Enlarged diagram of section B in the middle; Figure 5 This is a structural schematic diagram of the photovoltaic robot walking mechanism of this application, in which a section view of part of the robot's main body is shown, mainly displaying the drive components.

[0025] Reference numerals: 1. Robot body; 2. Guide rail; 21. Guide groove; 22. Slide groove; 23. Discharge port; 24. Limiting groove; 3. Roller; 4. Driven wheel; 5. Auxiliary wheel; 6. Drive assembly; 61. Drive shaft; 62. First bevel gear; 63. Second bevel gear; 64. Drive motor; 7. Adjustment assembly; 71. Sliding bar; 72. Damper; 73. First compression spring; 8. Cleaning assembly; 81. Mounting block; 82. Scraper; 83. Second compression spring. Detailed Implementation

[0026] The following is in conjunction with the appendix Figures 1-5 This application will be described in further detail.

[0027] This application discloses a photovoltaic robot walking mechanism.

[0028] Reference Figure 1 and Figure 2 The photovoltaic robot walking mechanism includes a guide rail 2, rollers 3, driven wheels 4, auxiliary wheels 5, and a drive assembly 6. Two sets of guide rails 2 are symmetrically arranged on opposite sides of the photovoltaic panel. A guide groove 21 is provided on the opposite side of the guide rail 2. The two sets of rollers 3 are rotatably mounted on the robot body 1 and roll within the two sets of guide grooves 21, with the axis of the rollers 3 perpendicular to the surface of the photovoltaic panel. The two sets of driven wheels 4 are rotatably mounted on the robot body 1 and roll within the two sets of guide grooves 21, with the driven wheels 4 located behind the rollers 3 to improve the stability of the robot body 1. The auxiliary wheels 5 are rotatably mounted on the robot body 1 and located directly above the guide rails 2, with the axis of the auxiliary wheels 5 perpendicular to the axis of the rollers 3 and used to limit the distance between the robot body 1 and the photovoltaic panel. The drive assembly 6 is mounted on the robot body 1 and used to synchronously drive the two sets of rollers 3 to rotate.

[0029] Reference Figure 1 and Figure 2 The photovoltaic panel is installed at an angle on the ground. Two sets of guide rails are installed on the top and bottom sides of the photovoltaic panel, respectively. Guide grooves 21 are opened on the opposite sides of the two sets of guide rails 2. Two sets of rollers 3 are rolled in the two sets of guide grooves 21. Due to the gravity of the robot body 1, the rollers 3 on the top of the robot body 1 are always pressed against the bottom of the guide groove 21. The rollers 3 at the bottom of the robot body 1 are easy to separate from the guide rails 2 at the bottom of the photovoltaic panel. In order to improve the pressing effect between the rollers 3 and the guide rails 2 on the bottom side of the photovoltaic panel, an adjustment component 7 is provided on the guide rails 2 on the bottom side of the photovoltaic panel.

[0030] Reference Figure 3 and Figure 4The adjustment assembly 7 includes a sliding bar 71, a damper 72, and a first compression spring 73. The sliding bar 71 is slidably mounted on the guide rail 2 along the direction of approaching or moving away from the bottom of the guide groove 21. The roller 3 below the robot body 1 rolls against the surface of the sliding bar 71. The damper 72 is fixedly mounted between the bottom of the guide groove 21 and the sliding bar 71. The fixed end of the damper 72 is fixedly mounted on the bottom of the guide groove 21, and the movable end of the damper 72 is fixedly mounted on the sliding bar 71. The damper 72 is used to dampen the sliding of the sliding bar 71. The first compression spring 73 is sleeved on the damper 72. The two ends of the first compression spring 73 are respectively pressed against the bottom of the guide groove 21 and the sliding bar 71. The first compression spring 73 is used to push the sliding bar 71 against the roller 3.

[0031] Reference Figure 3 and Figure 4 Multiple sets of dampers 72 and first compression springs 73 are installed at intervals along the length of the sliding bar 71. At the same time, multiple sets of protrusions are arranged at intervals along the length of the opposite side walls of the sliding bar 71. A limiting groove 24 is provided on the guide rail 2 to facilitate the sliding of the protrusions. The length direction of the limiting groove 24 is parallel to the sliding direction of the sliding bar 71. Multiple sets of protrusions are slidably installed in the limiting groove 24 and prevent the sliding bar 71 from deviating to one side, reducing the probability of the sliding bar 71 deviating.

[0032] Reference Figure 1 The guide rail 2 has a groove 22 on its upper surface that cooperates with the auxiliary wheel 5. The auxiliary wheel 5 is fixedly installed in the groove 22. The width of the groove 22 is greater than the width of the auxiliary wheel 5, so that the auxiliary wheel 5 can slide a certain distance in the width direction of the groove 22, thereby reducing the force exerted by the side wall of the groove 22 on the auxiliary wheel 5.

[0033] Reference Figure 2 and Figure 4The robot body 1 is equipped with a cleaning assembly 8 for cleaning impurities in the guide groove 21. The cleaning assembly 8 includes a mounting block 81, a scraper 82, and a second compression spring 83. The mounting block 81 is slidably mounted on the robot body 1 in a direction close to or away from the bottom of the guide groove 21. The scraper 82 is detachably mounted on the mounting block 81 by bolts. The scraper 82 slides in contact with the bottom of the guide groove 21 and is used to scrape away impurities on the bottom of the guide groove 21 or the sliding strip 71. The scraper 82 is located on the advancing roller 3. At the front end of the direction, when the robot body 1 moves, the scraper 82 first scrapes the impurities on the sliding groove or sliding strip 71, and then the roller 3 contacts the scraped sliding groove or sliding strip 71; the second compression spring 83 is fixedly installed on the robot body 1. The second compression spring 83 is used to push the scraper 82 on the mounting block 81 to press against the bottom of the guide groove 21 or the sliding strip 71. The elastic coefficient of the first compression spring 73 is less than that of the first compression spring 73, so that the scraper 82 only scrapes the impurities on the sliding strip 71 and cannot push the sliding strip 71 to slide.

[0034] Reference Figure 2 and Figure 3 Because the photovoltaic panel is tilted, the amount of impurities that naturally settle on the sliding strip 71 is reduced. At the same time, under the scraping action of the scraper 82, the impurities adhering to the sliding strip 71 are separated from the sliding strip 71 and fall off under the action of gravity. Meanwhile, impurities tend to accumulate inside the guide groove 21 on the upper side of the photovoltaic panel. In order to facilitate the scraper 82 to discharge the impurities from the guide groove 21, a discharge port 23 is provided on the guide rail 2 at the top of the photovoltaic panel to facilitate the timely discharge of scraped impurities. The discharge port 23 is spaced apart on the side wall of the guide rail 2 near the ground. The discharge port 23 is connected to the bottom of the guide groove 21. When the robot body 1 moves on the photovoltaic panel, the scraper 82 separates the impurities from the bottom of the guide groove 21 and pushes the impurities forward. When the impurities enter the discharge port 23, they are discharged from the discharge port 23 in time under the action of gravity, thereby reducing the amount of impurities that need to be pushed to level them.

[0035] Reference Figure 2 and Figure 5The drive assembly 6 includes a drive shaft 61, a first bevel gear 62, a second bevel gear 63, and a drive motor 64. The drive shaft 61 is rotatably mounted on the robot body 1. Two sets of first bevel gears 62 are symmetrically mounted on both ends of the drive shaft 61. The second bevel gear 63 is fixedly mounted on the fixed shaft of the roller 3, meshing with the first bevel gears 62. Two sets of second bevel gears 63 are respectively mounted on the fixed shafts of the two rollers 3. When the drive shaft 61 rotates, it drives the two sets of first bevel gears 62. The rotation of gear 62, through the meshing of the first bevel gear 62 and the second bevel gear 63, synchronously drives the two sets of rollers 3 to rotate; the drive motor 64 is fixedly mounted on the robot body 1, and the drive motor 64 is used to drive the drive shaft 61 to rotate, ultimately causing the robot body 1 to move on the photovoltaic panel, thereby facilitating the cleaning of the photovoltaic panel; in this embodiment, the drive motor 64 is driven by two sets of meshing gears, one set of gears is fixedly mounted on the output shaft of the drive motor 64, and the other set of gears is fixedly mounted on the middle part of the drive shaft 61.

[0036] Reference Figure 4 In order to improve the rolling contact effect between the roller 3 and the guide groove 21 or the sliding strip 71, anti-slip texture is provided on the roller 3. The anti-slip texture on the roller 3 reduces the probability of slippage between the roller 3 and the bottom of the guide groove 21 or the surface of the sliding strip 71.

[0037] The working principle of this application embodiment is as follows: The drive motor 64 drives two sets of rollers 3 to rotate simultaneously via the drive shaft 61, thereby moving the robot body 1 on the guide rail 2. The driven wheel 4 cooperates with the rollers 3 to improve the stability of the robot body 1. The auxiliary wheel 5 limits the distance between the robot body 1 and the photovoltaic panel. The first compression spring 73 keeps the sliding bar 71 pressed against the rollers 3. At the same time, the scraper 82 scrapes away impurities in the guide groove 21, reducing the impact of impurities on the rolling of the rollers 3, and ultimately improving the stability of the photovoltaic robot when walking on the tilted photovoltaic panel.

[0038] The above are all preferred embodiments of this application, and are not intended to limit the scope of protection of this application. Therefore, all equivalent changes made in accordance with the structure, shape and principle of this application should be covered within the scope of protection of this application.

Claims

1. A photovoltaic robot walking mechanism, characterized in that: The system includes guide rails (2), rollers (3), driven wheels (4), auxiliary wheels (5), and a drive assembly (6). Two sets of guide rails (2) are symmetrically arranged on opposite sides of the photovoltaic panel. A guide groove (21) is provided on the opposite side of the guide rails (2). The two sets of rollers (3) are rotatably mounted on the robot body (1) and roll within the two guide grooves (21). The axis of the rollers (3) is perpendicular to the surface of the photovoltaic panel. The two sets of driven wheels (4) are rotatably mounted on the robot body (1). 1) The robot body (1) is mounted on two sets of guide grooves (21) and rolled in them respectively. The driven wheel (4) is located behind the roller (3) and improves the stability of the robot body (1). The auxiliary wheel (5) is mounted on the robot body (1) and located directly above the guide rail (2). The axis of the auxiliary wheel (5) is perpendicular to the axis of the roller (3) and is used to limit the distance between the robot body (1) and the photovoltaic panel. The drive assembly (6) is mounted on the robot body (1) and is used to synchronously drive the two sets of rollers (3) to rotate.

2. The photovoltaic robot walking mechanism according to claim 1, characterized in that: An adjustment assembly (7) is provided on the guide rail (2) on one side of the bottom of the photovoltaic panel to make the roller (3) abut against the guide rail (2). The adjustment assembly (7) includes: A sliding bar (71) is slidably disposed on the guide rail (2) in a direction close to or away from the bottom of the guide groove (21), and the sliding bar (71) rolls against the roller (3); A damper (72) is disposed between the bottom of the guide groove (21) and the sliding bar (71) and is used to dampen the sliding of the sliding bar (71); The first compression spring (73) is sleeved on the damper (72) and its two ends are respectively pressed against the guide groove (21) and the sliding bar (71). The first compression spring (73) is used to push the sliding bar (71) to press against the roller (3).

3. The photovoltaic robot walking mechanism according to claim 2, characterized in that: Multiple sets of protrusions are spaced along the length direction on the side wall of the sliding strip (71), and a limiting groove (24) is provided on the guide rail (2) to facilitate the sliding of the protrusions. The multiple sets of protrusions are slidably arranged in the limiting groove (24) and prevent the sliding strip (71) from shifting to one side.

4. The photovoltaic robot walking mechanism according to claim 1, characterized in that: The guide rail (2) has a groove (22) on its upper surface that cooperates with the auxiliary wheel (5). The auxiliary wheel (5) is rolled in the groove (22) and the width of the groove (22) is greater than the width of the auxiliary wheel (5).

5. The photovoltaic robot walking mechanism according to claim 2, characterized in that: The robot body (1) is provided with a cleaning component (8) for cleaning impurities in the guide groove (21), the cleaning component (8) including: Mounting block (81), which is slidably disposed on robot body (1) in a direction close to or away from the bottom of guide groove (21); The scraper (82) is detachably mounted on the mounting block (81) by bolts and slides in contact with the bottom of the guide groove (21) or the sliding strip (71). The scraper (82) is used to scrape off impurities on the bottom of the guide groove (21) or the sliding strip (71). The scraper (82) is located at the front end of the roller (3) in the forward direction. The second compression spring (83) is mounted on the robot body (1) and is used to push the scraper (82) on the mounting block (81) against the bottom of the guide groove (21). The elastic coefficient of the second compression spring (83) is less than that of the first compression spring (73).

6. The photovoltaic robot walking mechanism according to claim 5, characterized in that: The guide rail (2) at the top of the photovoltaic panel is provided with a discharge port (23) to facilitate the timely discharge of scraped impurities. The discharge port (23) is spaced apart on the side wall of the guide rail (2) near the ground and communicates with the bottom of the guide groove (21).

7. The photovoltaic robot walking mechanism according to claim 1, characterized in that: The roller (3) is provided with anti-slip texture.

8. The photovoltaic robot walking mechanism according to claim 1, characterized in that: The driving component (6) includes: A drive shaft (61) is rotatably mounted on the robot body (1); The first bevel gear (62) and two sets of the first bevel gear (62) are symmetrically arranged at both ends of the drive shaft (61); The second bevel gear (63) is mounted on the fixed shaft of the roller (3) and meshes with the first bevel gear (62). When the drive shaft (61) rotates, it drives the two sets of rollers (3) to rotate synchronously through the first bevel gear (62) and the second bevel gear (63). A drive motor (64) is mounted on the robot body (1) and is used to drive the drive shaft (61) to rotate.

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