A robotic hand for cleaning solar panels and a gear drive assembly

Abstract

The application relates to the technical field of mechanical hands, in particular to a mechanical hand for cleaning solar panels and a gear driving assembly, which comprises a base, a mechanical arm rotatably arranged on the base, a cleaning frame arranged on the mechanical arm, a main cleaning disc rotatably arranged on the cleaning frame, a planetary gear set and a rotation reversing assembly arranged in the cleaning frame, and a planet carrier connected to the main cleaning disc; the rotation reversing assembly comprises a gear ring rotating shaft, a sun gear rotating shaft, a first synchronous worm wheel, a first synchronous worm wheel, an adjusting pin, a first face gear, a second face gear, a driving worm wheel, a driving worm wheel, a third driving motor, an adjusting cylinder, a first limiting gear, a second limiting gear, a first limiting worm, a second limiting worm and a synchronous part, the first synchronous worm wheel is arranged on the gear ring rotating shaft, the first synchronous worm wheel is arranged on the sun gear rotating shaft, the output end of the third driving motor is connected with the driving worm, and the driving worm is meshed with the driving worm wheel. The application has the effects of improving the light reflection loss and increasing the power generation efficiency.

Description

Technical Field

[0001] This invention relates to the field of robotic arms, and in particular to a robotic arm for cleaning solar panels and a gear drive assembly. Background Technology

[0002] Solar panels, also known as photovoltaic panels or solar cells, are devices that directly convert sunlight into electrical energy. They are widely used in solar power generation systems and renewable energy fields. Over time, solar panels accumulate dust and bird droppings, which can affect their performance and lifespan; therefore, regular cleaning is necessary.

[0003] The cleaning device in the related technology includes a handle, a cleaning disc, and a drive motor that drives the cleaning disc to rotate. The drive motor drives the cleaning disc to rotate, and the staff cleans the solar panels by holding the handle.

[0004] However, in related technologies, the cleaning devices typically rotate at a fixed speed, which can easily damage the anti-reflective coating of solar panels, leading to increased light reflection loss and reduced power generation efficiency. Summary of the Invention

[0005] In order to improve the cleaning devices in related technologies, the rotation speed of the cleaning disc is usually fixed, which can easily damage the anti-reflective coating of the solar panel, resulting in increased light reflection loss and reduced power generation efficiency. This application provides a robotic arm for cleaning solar panels.

[0006] The present application provides a robotic arm and gear drive assembly for cleaning solar panels, employing the following technical solution:

[0007] A robotic arm for cleaning solar panels and a gear drive assembly include a base, a robotic arm rotatably mounted on the base, a cleaning frame mounted on the robotic arm, a main cleaning disk rotatably mounted on the cleaning frame, a planetary gear set and a rotation reversing assembly disposed within the cleaning frame, the planetary carrier of the planetary gear set being connected to the main cleaning disk; the rotation reversing assembly includes a gear ring shaft, a sun gear shaft, a first synchronizing worm gear, a first synchronizing worm wheel, an adjusting pin, a first end face gear, a second end face gear, a drive worm wheel, a third drive motor, an adjusting cylinder, a first limiting gear, a second limiting gear, a first limiting worm, a second limiting worm, and a synchronizing element, the sun gear shaft being mounted on the base. The planetary gear set includes a sun gear, a ring gear shaft mounted on the ring gear, a first synchronizing worm gear mounted on the ring gear shaft, a third drive motor output connected to a drive worm, the drive worm meshing with the drive worm gear, a first end face gear and a second end face gear meshing with a first limiting gear and a second limiting gear, the first limiting worm and the second limiting worm coaxially mounted on the first limiting gear and the second limiting gear respectively, an adjusting pin rotatably connected to an adjusting cylinder, and a synchronizing element used to drive the adjusting pin to rotate synchronously with the drive worm gear.

[0008] By adopting the above technical solution, the operator first starts the drive motor. The rotation of its output end simultaneously drives the drive worm gear, which in turn drives the drive worm wheel. At this point, the operator activates the adjusting cylinder. As its piston rod extends, it causes the adjusting pin to slide. Through a synchronizing element, the adjusting pin rotates synchronously with the drive worm wheel. The rotation of the adjusting pin simultaneously drives the first end face gear and the second end face gear to rotate.

[0009] The rotation of the first limiting gear simultaneously drives the first limiting worm to rotate, which in turn drives the first synchronous worm gear to rotate. The rotation of the first synchronous worm gear, in turn, drives the gear ring shaft to rotate, which in turn drives the planetary gears to rotate. The rotation of the planetary gears, in turn, drives the planet carrier to rotate, and the rotation of the planet carrier, in turn, drives the main cleaning disc to rotate. The rotation of the second limiting gear simultaneously drives the second limiting worm to rotate, which in turn drives the second synchronous worm gear to rotate. The rotation of the second synchronous worm gear, in turn, drives the sun gear to rotate, which in turn drives the planetary gears to rotate. The rotation of the planetary gears, in turn, drives the planet carrier to rotate, and the rotation of the planet carrier, in turn, drives the main cleaning disc to rotate.

[0010] The second limiting gear rotates while the first limiting worm rotates. The second limiting worm rotates while driving the first synchronous worm wheel to rotate. The first synchronous worm wheel rotates while driving the gear ring shaft to rotate. The gear ring shaft rotates while driving the gear ring to rotate. Because the second limiting worm and the second synchronous worm wheel are self-locking, the sun gear shaft cannot rotate. The rotation of the gear ring drives the planet carrier to rotate, and the rotation of the planet carrier drives the main cleaning disc to rotate.

[0011] By selecting three options—one where the first limiting gear cannot rotate when the first limiting gear rotates, the other where the first limiting gear cannot rotate when the second limiting gear rotates, and still the first and second limiting gears rotate synchronously—the rotation speed of the planetary carrier can be adjusted, thereby controlling the rotation speed of the main cleaning disk. This structure reduces damage to the anti-reflective coating of the solar panels, thus improving light reflection loss and power generation efficiency.

[0012] Preferably, the synchronizing element includes a three-circle arc-shaped block group disposed on the adjusting pin and a plurality of stops disposed on the inner ring of the driving worm gear. The arc-shaped block group consists of a plurality of arc-shaped blocks disposed along the circumferential direction of the side wall of the adjusting pin, and the size of the stops and their adjacent stops is adapted to the size of the arc-shaped blocks.

[0013] By adopting the above technical solution, the operator adjusts the cylinder to drive the adjusting pin to slide. When the arc-shaped block group slides to the drive worm wheel, the first end face gear meshes with the first limiting gear, and the first limiting worm meshes with the first synchronous worm wheel. When the drive worm wheel rotates, the stop block blocks the arc-shaped block in the circumferential direction, thus driving the adjusting pin to rotate simultaneously, thereby achieving the simultaneous rotation of the adjusting pin and the drive worm wheel.

[0014] Preferably, a sliding frame is slidably mounted on the cleaning frame, and a plurality of slave cleaning discs are mounted on the sliding frame. The plurality of slave cleaning discs rotate synchronously with the main cleaning disc via a chain. A ball screw is mounted on the cleaning frame, and a second drive motor is mounted on the cleaning frame. The output end of the second drive motor is connected to the ball screw, and the sliding frame is threadedly connected to the ball screw.

[0015] By adopting the above technical solution, workers start the second drive motor. The output shaft of the second drive motor rotates, simultaneously driving the ball screw to rotate. The ball screw, in turn, causes the sliding frame to slide relative to the cleaning frame, thus achieving lateral cleaning of the solar panels. When the main cleaning disc rotates, the secondary cleaning discs rotate synchronously with it via chains. The synchronized movement of several secondary cleaning discs with the main cleaning disc improves the cleaning efficiency of the solar panels.

[0016] Preferably, the end of the drive worm gear away from the drive worm wheel is provided with a fan blade, the sliding frame is provided with an air outlet pipe, the fan blade is provided at one end of the air outlet pipe, and the other end of the air outlet pipe is provided towards the main cleaning disc.

[0017] By adopting the above technical solution, the worm gear is driven to rotate while the fan blades rotate. The rotation of the fan blades generates wind energy, which is output to the main cleaning plate through the air outlet pipe. The main cleaning plate provides wind energy when cleaning the solar panels, and the wind energy can blow off the dust attached to the solar panels, thereby improving the cleaning effect.

[0018] Preferably, the robotic arm is provided with a robotic arm support assembly for supporting the robotic arm.

[0019] By adopting the above technical solution, the robotic arm is supported by the robotic arm support component, thus providing sufficient stability and strength to withstand the load and maintain accuracy.

[0020] Preferably, the robotic arm support assembly includes a support frame disposed on the base, a support slider slidably disposed on the support frame, and a support rod hinged to the robotic arm, wherein the end of the support rod away from the robotic arm is hinged to the support slider.

[0021] By adopting the above technical solution, when the robotic arm flips, the support slider slides relative to the length direction of the sliding groove, and the connection between the robotic arm and the support frame is realized through the two ends of the support rod, thereby achieving the purpose of supporting the robotic arm.

[0022] Preferably, the base is provided with a load-bearing mechanism to enhance the stability of the base.

[0023] By adopting the above technical solution, the stability of the base is enhanced by the load-bearing mechanism, thereby reducing the risk of the base tipping over due to vibrations generated when the robotic arm flips or when the main cleaning plate and the secondary cleaning plate rotate.

[0024] Preferably, the load-bearing mechanism includes a load-bearing frame disposed on one side of the base, a load-bearing frame door rotatably mounted on one side of the load-bearing frame, a plurality of load-bearing blocks disposed within the load-bearing frame, and an anti-falling component to reduce the load-bearing blocks from falling out of the load-bearing frame.

[0025] By adopting the above technical solution, the overall weight of the base is increased by adding several load-bearing blocks inside the load-bearing frame, thereby improving the stability of the base; the anti-fall-off component reduces the load-bearing blocks from falling out of the load-bearing frame, reducing the possibility of the base's stability being compromised.

[0026] Preferably, the anti-fall component includes a threaded block disposed on the load-bearing frame, a fixed block disposed on the load-bearing frame door, and a component that rotates and slides through the fixed block, wherein the threaded block is threadedly connected to the fixed block.

[0027] By adopting the above technical solution, the fixing screw is slidably inserted into the fixing block until the fixing screw abuts against the threaded block. By rotating the fixing screw, the fixing screw is threadedly connected to the threaded hole, thereby realizing the fixed connection between the load-bearing frame and the load-bearing frame door, thus reducing the possibility of the load-bearing block falling out of the load-bearing frame.

[0028] A robotic arm for cleaning solar panels, a gear drive assembly, and the gear drive assembly are characterized in that: a gear drive assembly is included for driving the robotic arm to rotate, the gear drive assembly includes a rotating worm and a rotating worm wheel meshing with the rotating worm, a rotating motor is provided on the robotic arm, a rotating frame is provided on the base, a worm seat is provided on the base, the rotating worm is provided on the worm seat, the rotating worm wheel is provided on the arm, and the arm is hinged to the worm seat.

[0029] By adopting the above technical solution, when the flip motor is started, the output shaft of the flip motor drives the flip worm to rotate, the flip worm to rotate at the same time, the flip worm wheel to rotate at the same time, the boom to rotate at the same time, and the robotic arm to rotate at the same time, thereby enabling the robotic arm to rotate to adapt to solar panels with different tilt angles.

[0030] In summary, this application includes at least one of the following beneficial technical effects:

[0031] 1. The above structure reduces damage to the anti-reflective coating of the solar panel, thereby increasing light reflection loss and power generation efficiency;

[0032] 2. The worm gear rotates while the fan blades rotate, generating wind energy. This wind energy is output to the main cleaning disc through the air outlet pipe. The main cleaning disc provides wind energy when cleaning the solar panels, and the wind energy can blow off the dust attached to the solar panels, thereby improving the cleaning effect. Attached Figure Description

[0033] Figure 1 This is a schematic diagram of the overall structure in this embodiment;

[0034] Figure 2 This is a schematic diagram of the overall structure from another perspective in this embodiment;

[0035] Figure 3 This is a structural diagram used to illustrate the flipping mechanism of a robotic arm;

[0036] Figure 4It is a partially exploded view used to show the load-bearing mechanism;

[0037] Figure 5 This is a structural diagram used to illustrate the first and second flip drive components.

[0038] Figure 6 It is a partial cross-sectional view of the interior of the protective shell;

[0039] Figure 7 yes Figure 6 Enlarged view of point A in the middle;

[0040] Figure 8 It is a top view used to show the structure of a planetary gear set.

[0041] Explanation of reference numerals in the attached drawings: 1. Base; 2. Caster wheel; 3. Rotation restriction component; 4. Robotic arm; 5. Robotic arm tilting mechanism; 51. Tilting motor; 52. Worm gear seat; 53. Tilting worm gear; 54. Tilting worm wheel; 55. Arm; 6. Robotic arm support assembly; 61. Support frame; 611. Sliding groove; 62. Support slider; 63. Support rod; 7. Load-bearing mechanism; 71. Load-bearing mounting frame; 72. Load-bearing frame; 721. Load... 73. Load-bearing frame door; 74. Load-bearing block; 75. Anti-fall component; 751. Threaded block; 752. Fixing block; 753. Fixing screw; 7511. Threaded hole; 731. Frame door handle; 741. Load-bearing block handle; 7531. Rotating handle; 8. Hinge frame; 9. Tilting frame; 91. First mounting cavity; 10. First tilting drive component; 101. First drive motor; 102. First fixed gear; 103. 11. First rotating gear; 12. Fixed frame; 13. Cleaning frame; 14. Mounting part; 15. Tilting part; 16. Cleaning slide cavity; 17. Sliding frame; 18. Sliding drive assembly; 19. Second drive motor; 10. Ball screw; 11. Second tilting drive assembly; 12. Rotating motor; 13. Second rotating gear; 14. Second fixed gear; 15. Second mounting cavity; 16. Main cleaning disc; 17. From the cleaning disc; 18, brush; 19, protective shell; 20, planetary gear set; 201, gear ring; 202, sun gear; 203, planet gears; 204, planet carrier; 2041, drive rod; 21, rotation reversing assembly; 211, gear ring shaft; 212, sun gear shaft; 213, first synchronizing worm gear; 214, second synchronizing worm gear; 215, adjusting pin; 216, first end face gear; 217, second end face gear; 219, drive worm gear; 220, third drive motor; 221, adjusting cylinder; 222, first limiting gear; 223, second limiting gear; 224, first limiting worm; 225, second limiting worm; 226, synchronizing element; 2261, arc block assembly; 22611, arc block; 227, drive worm; 23, fan blade; 24, air outlet pipe. Detailed Implementation

[0042] The following is in conjunction with the appendix Figure 1-8 This application will be described in further detail.

[0043] A robotic arm for cleaning solar panels and a gear-driven assembly, see reference. Figure 1 The system includes a base 1, which is square-shaped. Several casters 2 are mounted on the bottom of the base 1, allowing workers to slide the base 1 to a designated area. Each caster 2 has a limiting element 3 to restrict its rotation. This limiting element 3 is existing technology and will not be described in detail here. When workers slide the base 1 to the designated area, the limiting elements 3 restrict the rotation of the casters 2, thereby limiting the sliding of the base 1 and ensuring its stability.

[0044] Reference Figure 2 and Figure 3 A robotic arm 4 is rotatably mounted on the top of the base 1, and a robotic arm tilting mechanism 5 for driving the robotic arm 4 to rotate is installed between the robotic arm 4 and the base 1. Specifically, the robotic arm tilting mechanism 5 includes a tilting motor 51, a worm gear seat 52, a tilting worm 53, a tilting worm wheel 54, and a boom 55. The tilting motor 51 is mounted on the top of the worm gear seat 52. The worm gear seat 52 is mounted on the top of the base 1, and its longitudinal section is concave. The tilting worm 53 is rotatably mounted on two opposite sides of the worm gear seat 52, with one end of the tilting worm 53 near the tilting motor 51 extending to one side of the worm gear seat 52 and connected to the output shaft of the tilting motor 51. The boom 55 is rotatably mounted on the top of the base 1, and the tilting worm wheel 54 is fixedly mounted on two opposite sides of the boom 55, meshing with the tilting worm 53. The worm gear seat 52 and the boom 55 are hinged together. The robotic arm 4 is fixedly connected to the end of the boom 55 away from the base 1 by a screw and nut threaded connection. When the tilting motor 51 is started, the output shaft of the tilting motor 51 drives the tilting worm 53 to rotate. The rotation of the tilting worm 53 drives the tilting worm wheel 54 to rotate. The rotation of the tilting worm wheel 54 drives the boom 55 to rotate. The rotation of the boom 55 drives the robotic arm 4 to rotate.

[0045] Reference Figure 2A robotic arm support assembly 6 is installed between the base 1 and the robotic arm 4 to support the robotic arm 4. Specifically, the robotic arm support assembly 6 includes a support frame 61, a support slider 62, and a support rod 63. The support frame 61 is square-shaped and fixedly installed on the top of the base 1. A sliding groove 611 is formed on the side of the support frame 61 facing the support rod 63, and the length direction of the sliding groove 611 is relative to the length direction of the support frame 61. The support slider 62 is slidably installed within the sliding groove 611. One end of the support rod 63 is hinged to the support slider 62, and the end of the support rod 63 away from the support slider 62 is hinged to the robotic arm 4. When the robotic arm 4 is rotated, the support slider 62 slides relative to the length direction of the sliding groove 611, and the connection between the robotic arm 4 and the support frame 61 is achieved through the two ends of the support rod 63, thereby achieving the purpose of supporting the robotic arm 4.

[0046] Reference Figure 4 A load-bearing mechanism 7 is installed on the base 1 to enhance its stability. Specifically, the load-bearing mechanism 7 includes a load-bearing mounting frame 71, a load-bearing frame 72, a load-bearing door 73, several load-bearing blocks 74, and an anti-fall component 75. The load-bearing mounting frame 71 is installed on the side of the base 1 away from the robotic arm 4. The load-bearing frame 72, which is rectangular in shape, is installed on the side of the load-bearing mounting frame 71 away from the base 1. A load-bearing cavity 721 is formed on the side of the load-bearing frame 72 opposite to the load-bearing mounting frame 71, and several load-bearing blocks 74 are installed inside the load-bearing cavity 721. The load-bearing door 73 is rotatably mounted on the side of the load-bearing frame 72 opposite to the load-bearing mounting frame 71, thereby covering the load-bearing cavity 721.

[0047] Reference Figure 4 The anti-fall component 75 includes a threaded block 751, a fixing block 752, and a fixing screw 753. The threaded block 751 is fixedly installed on the side of the load-bearing frame 72 opposite to the load-bearing mounting frame 71 and located next to the load-bearing frame door 73. A threaded hole 7511 is provided on the side of the threaded block 751 near the load-bearing frame door 73. The fixing block 752 is fixedly installed on the side of the load-bearing frame door 73 opposite to the load-bearing mounting frame 71. The fixing screw 753 rotates and slides through the fixing block 752, and the fixing screw 753 is threadedly connected to the threaded hole 7511. The fixing screw 753 is slid through the fixing block 752 until it abuts against the threaded block 751. By rotating the fixing screw 753, the fixing screw 753 is threadedly connected to the threaded hole 7511, thereby achieving a fixed connection between the load-bearing frame 72 and the load-bearing frame door 73.

[0048] Reference Figure 4In addition, a door handle 731 is installed on one side of the load-bearing frame door 73 to improve the ease of opening the load-bearing frame door 73. A load-bearing block handle 741 is installed on one side of the load-bearing block 74 to improve the ease of removing the load-bearing block 74 from the load-bearing cavity 721. A rotating handle 7531 is installed on the end of the fixing screw 753 away from the threaded block 751 to improve the smoothness of rotating the fixing screw 753.

[0049] Reference Figure 3 and Figure 5 A hinge frame 8 is mounted on the side of the robotic arm 4 away from the arm 55, and a tilting frame 9 is hinged to the end of the hinge frame 8 away from the robotic arm 4. A first tilting drive assembly 10 for driving the tilting frame 9 to rotate is provided between the hinge frame 8 and the tilting frame 9. The first tilting drive assembly 10 includes a first drive motor 101, a first fixed gear 102, and a first rotating gear 103. The first fixed gear 102 is fixedly mounted on one side of the hinge frame 8, and a first mounting cavity 91 for mounting the first drive motor 101 is opened on one side of the tilting frame 9, and the first mounting cavity 91 passes through two opposite sides of the tilting frame 9. The first rotating gear 103 is mounted on the output shaft of the first drive motor 101, and the first rotating gear 103 meshes with the first fixed gear 102.

[0050] Reference Figure 5 A fixing frame 11 is installed at the end of the flipping frame 9 away from the hinge frame 8, and a cleaning frame 12 is installed at the end of the fixing frame 11 away from the flipping frame 9. The cleaning frame 12 has a T-shaped longitudinal section and includes a mounting part 121 and a flipping part 122 mounted on one side of the mounting part 121. The mounting part 121 is rectangular; the flipping part 122 is cubic. A cleaning cavity 13 is formed on the side of the mounting part 121 away from the flipping part 122, and the length direction of the cleaning cavity 13 is relative to the length direction of the cleaning frame 12. A sliding frame 131 is slidably installed within the cleaning cavity; the sliding frame 131 is rectangular, and its length direction is relative to the width direction of the mounting part 121; it is slidably installed within the cleaning cavity 13, and its sliding position is relative to the length direction of the cleaning cavity 13.

[0051] Reference Figure 1 and Figure 5A sliding drive assembly 14 is mounted on the mounting part 121 to drive the sliding frame 131 to slide relative to the length direction of the mounting part 121. Specifically, the sliding drive assembly 14 includes a second drive motor 141 and a ball screw 142. The second drive motor 141 is mounted on one end of the flip mounting part 121, and its output end extends into the cleaning cavity 13. The length direction of the ball screw 142 is set relative to the length direction of the flip mounting part 121. One end of the ball screw 142 is mounted on the output shaft of the second drive motor 141, and the other end of the ball screw 142 is rotatably mounted on the inner wall of the cleaning cavity 13. The sliding frame 131 is threadedly connected to the ball screw 142. When the second drive motor 141 is started, its output shaft drives the ball screw 142 to rotate, thereby causing the sliding frame 131 to slide relative to the length direction of the mounting part 121.

[0052] Reference Figure 1 and Figure 2 A second tilting drive assembly 15 for driving the cleaning frame 12 to rotate is installed between the fixed frame 11 and the cleaning frame 12. Specifically, in conjunction with... Figure 5 The second tilting drive assembly 15 includes a rotary motor 151, a second rotary gear 152, and a second fixed gear 153. A second mounting cavity 111 is formed on one side of the fixed frame 11. The rotary motor 151 is mounted in the second mounting cavity 111, and its output shaft rotatably passes through one side of the fixed frame 11. The second rotary gear 152 is mounted on one end of the rotary motor 151 that rotatably passes through the fixed frame 11. The second fixed gear 153 is fixedly mounted on one side of the tilting part 122, and the second fixed gear 153 meshes with the second rotary gear 152. When the rotary motor 151 starts, its output shaft rotates, simultaneously driving the second fixed gear 153 to rotate. The rotation of the second fixed gear 153 simultaneously drives the tilting part 122 to rotate, and the rotation of the tilting part 122 simultaneously drives the mounting part 121 to tilt.

[0053] Reference Figure 2 and Figure 5 The sliding frame 131 is rotatably mounted on the side opposite to the mounting part 121, with a main cleaning plate 16 and several secondary cleaning plates 17. Several brushes 18 are installed on both the main cleaning plate 16 and the secondary cleaning plates 17. The brushes 18 are used to clean the solar panels. The main cleaning plate 16 and the several secondary cleaning plates 17 rotate synchronously through the transmission of chains and gears.

[0054] Reference Figure 5 and Figure 6 A protective shell 19 is installed on the side of the sliding frame 131 near the mounting part 121. The protective shell 19 passes through the mounting part 121 on the side near the flipping part 122, and is positioned relative to the length of the mounting part 121. Figure 8A planetary gear set 20 is installed inside the protective housing 19. Specifically, the planetary gear set 20 includes a ring gear 201, a sun gear 202, three planet gears 203, and a planet carrier 204. The sun gear 202 is installed inside the ring gear 201 and is coaxial with the ring gear 201. The three planet gears 203 are evenly distributed circumferentially between the sun gear 202 and the ring gear 201, and all three planet gears 203 simultaneously mesh with the gears and the sun gear 202. The planet carrier 204 is Y-shaped, and its three ends are rotatably connected to the three planet gears 203, so that the rotation of the planet carrier 204 can be driven by the rotation of the ring gear 201 or the sun gear 202. A drive rod 2041 is installed on the rotating rod of the planet carrier 204. The drive rod 2041 passes through the protective housing 19 and the sliding frame and is connected to the main cleaning disc 16.

[0055] Reference Figure 6 The protective casing 19 contains a rotation reversing assembly 21. Specifically, in conjunction with... Figure 7 The rotation reversing assembly 21 includes a gear ring shaft 211, a sun gear shaft 212, a first synchronous worm gear 213, a second synchronous worm gear 214, an adjusting pin 215, a first end face gear 216, a second end face gear 217, a drive worm gear 219, a third drive motor 220, an adjusting cylinder 221, a first limiting gear 222, a second limiting gear 223, a first limiting worm 224, a second limiting worm 225, a synchronizing element 226, and a drive worm 227.

[0056] Among them, reference Figure 6 and Figure 7A gear ring shaft 211 is fixedly sleeved on a gear ring 201, and a first synchronous worm gear 213 is fixedly sleeved on the gear ring shaft 211. A sun gear shaft 212 is fixedly installed on the side of the sun gear 202 near the gear shaft, and rotatably passes through one end of the sun gear shaft 212. The first synchronous worm gear 213 is fixedly sleeved on the gear ring shaft 211 and rotatably passes through one end of the sun gear shaft 212. The first synchronous worm gear 213 and the second synchronous worm gear 214 are the same size. A third drive motor 220 is installed on one side of the protective housing 19, and the output end of the third drive motor 220 extends into the protective housing 19; a drive worm 227 is installed on the output end of the third drive motor 220. A drive worm gear 219 is rotatably installed inside the protective housing 19, and the drive worm gear 219 meshes with the drive worm 227. An adjusting cylinder 221 is installed on one side of the protective housing 19, with its piston rod extending into the protective housing 19. An adjusting pin 215 is rotatably mounted on the piston rod of the adjusting cylinder 221. A first end-face gear 216 and a second end-face gear 217 are both fixedly sleeved on the adjusting pin 215. Both the first end-face gear 216 and the second end-face gear 217 mesh with the first limiting gear 222 and the second limiting gear 223. A first limiting worm 224 is coaxially mounted on the first limiting gear 222 and meshes with the first synchronous worm gear 213. A second limiting worm 225 is coaxially mounted on the second limiting gear 223 and meshes with the second synchronous worm gear 214.

[0057] Reference Figure 6 and Figure 7 The synchronizing element 226 includes a three-ring arc-shaped block assembly 2261 and several stop blocks formed on the inner ring of the drive worm gear 219. Specifically, the three rings of arc-shaped blocks 22611 are respectively mounted on the adjusting pin 215 and are evenly distributed along the length of the adjusting pin 215. The arc-shaped block assembly 2261 consists of several arc-shaped blocks 22611, which are evenly mounted on the circumferential side of the adjusting pin 215. The stop blocks are arc-shaped, and the size between the stop block and its adjacent stop block is adapted to the size of the arc-shaped block 22611.

[0058] In addition, refer to Figure 6 and Figure 7 A fan blade 23 is installed at the end of the drive worm gear 227 away from the drive worm wheel 219. An air outlet pipe 24 is installed through one side of the protective housing 19. The fan blade 23 is installed at one end of the air outlet pipe 24 that passes through the protective housing 19. The end of the air outlet pipe 24 away from the fan blade 23 passes through the protective housing 19, the sliding frame 131 and the main cleaning disc 16 to improve the cleaning effect.

[0059] The implementation principle of this application is as follows: First, the operator starts the third drive motor 220. Its output rotation simultaneously drives the drive worm 227 to rotate, and the rotation of the drive worm 227 simultaneously drives the drive worm wheel 219 to rotate. At this time, the operator starts the adjusting cylinder 221. Its piston rod extends, causing the adjusting pin 215 to slide. When the second end face gear 217 meshes with the first limiting gear 222, the first limiting worm 224 meshes with the first synchronous worm wheel 213. The adjusting pin 215 is driven to rotate synchronously with the drive worm wheel 219 via the synchronizing element 226. The rotation of the adjusting pin 215 simultaneously drives the first end face gear 216 and the second end face gear 217 to rotate.

[0060] The rotation of the first limiting gear 222 simultaneously drives the first limiting worm 224 to rotate. The rotation of the first limiting worm 224 simultaneously drives the first synchronous worm gear 213 to rotate. The rotation of the first synchronous worm gear 213 simultaneously drives the gear ring shaft 211 to rotate. The rotation of the gear ring shaft 211 simultaneously drives the planetary gear 203 to rotate. The rotation of the planetary gear 203 simultaneously drives the planet carrier 204 to rotate. The rotation of the planet carrier 204 simultaneously drives the main cleaning disc 16 to rotate. The rotation of the second limiting gear 223 simultaneously drives the second limiting worm 225 to rotate. The rotation of the second limiting worm 225 simultaneously drives the second synchronous worm gear 214 to rotate. The rotation of the second synchronous worm gear 214 simultaneously drives the sun gear 202 to rotate. The rotation of the sun gear 202 simultaneously drives the planetary gear 203 to rotate. The rotation of the planetary gear 203 simultaneously drives the planet carrier 204 to rotate. The rotation of the planet carrier 204 simultaneously drives the main cleaning disc 16 to rotate.

[0061] While the second limiting gear 223 rotates, the first limiting worm 224 rotates. Simultaneously, the second limiting worm 225 rotates, driving the first synchronous worm gear 213 to rotate. The first synchronous worm gear 213 rotates, driving the gear ring shaft 211 to rotate. The gear ring shaft 211 rotates, driving the gear ring 201 to rotate. Because the second limiting worm 225 and the second synchronous worm gear 214 are self-locking, the sun gear shaft 212 cannot rotate. Simultaneously, the rotation of the gear ring 201 drives the planet carrier 204 to rotate, and the rotation of the planet carrier 204 drives the main cleaning disc 16 to rotate.

[0062] By selecting three options—when the first limiting gear 222 rotates, the second limiting gear 223 cannot rotate; when the second limiting gear 223 rotates, the first limiting gear 222 cannot rotate; and when the first limiting gear 222 and the second limiting gear 223 rotate synchronously—the rotation speed of the planetary carrier 204 can be adjusted, thereby controlling the rotation speed of the main cleaning disc 16.

[0063] 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 robotic arm for cleaning solar panels, comprising a base (1), characterized in that: A mechanical arm (4) is rotatably mounted on the base (1), a cleaning frame (12) is mounted on the mechanical arm (4), a main cleaning disc (16) is rotatably mounted on the cleaning frame (12), a planetary gear set (20) and a rotation reversing component (21) are provided inside the cleaning frame (12), and the planet carrier (204) of the planetary gear set (20) is connected to the main cleaning disc (16). The rotation reversing assembly (21) includes a gear ring shaft (211), a sun gear shaft (212), a first synchronous worm gear (213), a second synchronous worm gear (214), an adjusting pin (215), a first end face gear (216), a second end face gear (217), a drive worm gear (219), a third drive motor (220), an adjusting cylinder (221), a first limiting gear (222), a second limiting gear (223), a first limiting worm (224), and a second limiting worm. The system includes a rod (225), a synchronizing element (226), and a drive worm gear (227). The sun gear shaft (212) is located on the sun gear (202) of the planetary gear set (20). The gear ring shaft (211) is located on the gear ring (201) of the planetary gear set (20). The first synchronizing worm gear (213) is located on the gear ring shaft (211). The second synchronizing worm gear (214) is located on the sun gear shaft (212). The third drive motor (220) The output end of the drive worm (227) is connected to the drive worm gear (227), which meshes with the drive worm wheel (219). The first end face gear 216 and the second end face gear (217) are both fixedly sleeved on the adjusting pin (215). The first end face gear (216) and the second end face gear (217) mesh with the first limiting gear (222) and the second limiting gear (223). The first limiting worm (224) meshes with the first synchronous worm wheel (213). The second limiting worm (225) meshes with the second synchronous worm gear (214). The first limiting worm (224) and the second limiting worm (225) are respectively coaxially arranged on the first limiting gear (222) and the second limiting gear (223). The adjusting pin (215) is rotatably connected to the piston rod of the adjusting cylinder (221). The synchronizing member (226) is used to drive the adjusting pin (215) to rotate synchronously with the driving worm gear (219).

2. The robotic arm for cleaning solar panels according to claim 1, characterized in that: The synchronizing element (226) includes a three-circle arc-shaped block group (2261) disposed on the adjusting pin (215) and a plurality of stops disposed on the inner ring of the driving worm gear (219). The arc-shaped block group (2261) consists of a plurality of arc-shaped blocks (22611) disposed along the circumferential direction of the side wall of the adjusting pin (215). The size between the stops and the adjacent stops is adapted to the size of the arc-shaped blocks (22611).

3. The robotic arm for cleaning solar panels according to claim 2, characterized in that: A sliding frame (131) is slidably mounted on the cleaning frame (12). Several secondary cleaning discs (17) are mounted on the sliding frame (131). The secondary cleaning discs (17) rotate synchronously with the main cleaning disc (16) via chains. A ball screw (142) is mounted on the cleaning frame (12). A second drive motor (141) is mounted on the cleaning frame (12). The output end of the second drive motor (141) is connected to the ball screw (142). The sliding frame (131) is threadedly connected to the ball screw (142).

4. A robotic arm for cleaning solar panels according to claim 3, characterized in that: The drive worm (227) is provided with a fan blade (23) at the end away from the drive worm wheel (219), and an air outlet pipe (24) is provided on the sliding frame (131). The fan blade (23) is located at one end of the air outlet pipe (24), and the other end of the air outlet pipe (24) is located towards the main cleaning plate (16).

5. A robotic arm for cleaning solar panels according to claim 1, characterized in that: The robotic arm (4) is provided with a robotic arm support assembly (6) for supporting the robotic arm (4).

6. A robotic arm for cleaning solar panels according to claim 5, characterized in that: The robotic arm support assembly (6) includes a support frame (61) disposed on the base (1), a support slider (62) slidably disposed on the support frame (61), and a support rod (63) hinged to the robotic arm (4). The end of the support rod (63) away from the robotic arm (4) is hinged to the support slider (62).

7. A robotic arm for cleaning solar panels according to claim 1, characterized in that: The base (1) is provided with a load-bearing mechanism (7) for enhancing the stability of the base (1).

8. A robotic arm for cleaning solar panels according to claim 7, characterized in that: The load-bearing mechanism (7) includes a load-bearing frame (72) disposed on one side of the base (1), a load-bearing frame door (73) rotatably installed on one side of the load-bearing frame (72), a plurality of load-bearing blocks (74) disposed in the load-bearing frame (72), and an anti-falling component (75) to reduce the load-bearing blocks (74) from falling out of the load-bearing frame (72).

9. A robotic arm for cleaning solar panels according to claim 8, characterized in that: The anti-fall component (75) includes a threaded block (751) disposed on the load-bearing frame (72), a fixed block (752) disposed on the load-bearing frame door (73), and a component that rotates and slides through the fixed block (752). The threaded block (751) is threadedly connected to the fixed block (752).

10. A robotic arm for cleaning solar panels according to claim 1, characterized in that: The system includes a tilting motor (51), a worm gear seat (52), a tilting worm (53), a tilting worm wheel (54), and a boom (55). The tilting motor (51) is mounted on the top of the worm gear seat (52), which is mounted on the top of the base (1). The longitudinal section of the worm gear seat (52) is concave. The tilting worm (53) is rotatably mounted on two opposite sides of the worm gear seat (52). The end of the tilting worm (53) near the tilting motor (51) extends outwards. The arm (55) is rotatably mounted on the top of the base (1) and connected to the output shaft of the worm gear seat (52) and the rotating worm wheel (54) is fixedly mounted on the two opposite sides of the arm (55). The rotating worm wheel (54) meshes with the rotating worm (53). The worm gear seat (52) and the arm (55) are hinged. The mechanical arm (4) is fixedly connected to the end of the arm (55) away from the base (1) by the threaded connection of screws and nuts.

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