Walking mechanism and its testing equipment

Abstract

The present application discloses a walking mechanism and its detection equipment, wherein the walking mechanism includes a frame, a servo motor arranged on the frame, a driving wheel rotatably connected to the servo motor, and a driven wheel rotatably connected to the driving wheel, wherein the driven wheel is assembled at both ends of a support shaft passing through the frame, and the driving wheel and the driven wheel outer shells on the same side are provided with a synchronous belt, and a support wheel assembly is provided between the driving wheel and the driven wheel on the same side, and the support wheel assembly includes a support plate and a plurality of support wheels assembled on the support plate, and the support wheel abuts against the synchronous belt and rotates under the drive of the synchronous belt, and the detection equipment includes a detection system detachably assembled with the walking mechanism, and the detection system includes an image acquisition module, an illumination module, a signal processing module, and a central control unit, and the image acquisition module, the illumination module, and the signal processing module are all electrically connected to the central control unit. The present application improves the product performance by providing a support wheel assembly to improve the synchronization of the walking mechanism under different working conditions.

Description

Technical Field

[0001] The present application relates to the technical field of photovoltaic power station detection, and in particular to a walking mechanism and detection equipment thereof. Background Art

[0002] As a clean energy source, photovoltaic power generation is growing in scale. The power generation efficiency of photovoltaic power stations is a very important energy efficiency indicator. Therefore, photovoltaic power stations need to have testing equipment for regular defect detection. The walking mechanism of the testing equipment usually adopts a crawler or synchronous belt structure to meet the design pressure requirements of the photovoltaic panel. The common problem that these two structures need to solve is that the crawler or synchronous belt always has good contact with the panel when the testing equipment is walking, turning, climbing, crossing obstacles, etc., to ensure that the detection unit of the testing equipment can accurately detect the status of the photovoltaic power station.

[0003] Therefore, there is a need for a walking mechanism and corresponding detection equipment that has a simple structure and ensures that the walking mechanism can have good contact with the photovoltaic power station under different working conditions. Summary of the invention

[0004] In order to solve the above-mentioned technical problems, the present application provides a walking mechanism and a detection device thereof with a simple structure and stable operation.

[0005] In order to solve the above technical problems, the present application provides a walking mechanism, which is used for detection equipment of a photovoltaic power station, including a frame, a servo motor arranged on the frame, a driving wheel rotatably connected to the servo motor, and a driven wheel rotatably connected to the driving wheel, wherein the driven wheel is assembled at both ends of a support shaft passing through the frame, and the outer shells of the driving wheel and the driven wheel located on the same side are provided with a synchronous belt, and a support wheel assembly is provided between the driving wheel and the driven wheel located on the same side, and the support wheel assembly includes a support plate and a plurality of support wheels assembled on the support plate, the support wheel abuts against the synchronous belt and rotates under the drive of the synchronous belt, a convex rib is provided in the middle of the belt teeth of the synchronous belt, and the convex rib is arranged along the center line direction of the belt teeth and is a continuous closed structure, a guide groove adapted to the convex rib is provided on the support wheel, and the support plate includes a first support plate and a second support plate arranged in parallel, and the first support plate and the second support plate are assembled and fixed with the frame; the first support plate has a first main body and a first holding portion extending upward from both ends of the first main body, and the second support plate has a second main body and a first holding portion extending upward from both ends of the first main body The second holding part is formed by extending upwardly from both ends of the second main body; the first main body and the second main body are symmetrically provided with a plurality of assembly holes; a reinforcing plate is provided between the first holding part and the second holding part, and the first holding part and the second holding part are provided with corresponding first mounting holes and second mounting holes, and the connecting line of the assembling hole, the first mounting hole and the second mounting hole at the outermost end forms a triangle, the reinforcing plate is provided with a first through hole, a second through hole and a third through hole, the first pin passes through the first mounting hole and the first through hole to be assembled and fixed with the frame, the second pin passes through the second mounting hole and the second through hole to be assembled and fixed with the frame, the connecting line of the first through hole, the second through hole and the third through hole forms a triangle, a handle is provided on the support wheel assembly, the handle includes a gripping part and a fixed shaft connected to the gripping part, the fixed shaft passes through the third through hole to be assembled and fixed with the frame, a first limiting plate is provided on the outer side of the first support plate, a second limiting plate is provided on the outer side of the second support plate, limiting holes are provided on the first limiting plate and the second limiting plate, and the aperture of the limiting hole is larger than the shaft diameter of the support wheel bearing.

[0006] Furthermore, the support wheels are arranged at equal intervals between the first support plate and the second support plate.

[0007] Furthermore, the bearing of the support wheel passes through the corresponding assembly hole and is assembled and fixed with the first main body and the second main body.

[0008] Furthermore, the limiting holes correspond to the assembling holes, and the bearings of the supporting wheels pass through the corresponding limiting holes and are assembled and fixed with the first supporting plate, the first limiting plate, the second supporting plate and the second limiting plate.

[0009] Furthermore, the first limiting plate and the second limiting plate are provided with pin holes corresponding to the second mounting hole, and the second pin shaft passes through the pin hole, the second mounting hole and the second through hole to be assembled and fixed with the frame.

[0010] Furthermore, the driving wheel and the driven wheel have the same pitch circle diameter and number of teeth, the synchronous belt is a trapezoidal tooth synchronous belt, the teeth of the driving wheel and the driven wheel are provided with continuous and closed grooves along the center line direction of the outer circle, and the convex ribs can be accommodated in the grooves.

[0011] Furthermore, the frame is provided with a tensioning device for adjusting the center distance between the driving wheel and the driven wheel, and the tensioning device includes a tensioning plate arranged on the support shaft and capable of driving the support shaft to rotate, a locking member and a limiting member arranged on the frame; the locking member can lock or unlock the tensioning plate, and the limiting member limits the position of the tensioning plate after it is in the tensioned state.

[0012] The present application also provides a detection device, including the walking mechanism as described above and a detection system that can be detachably assembled on the walking mechanism, the detection system including a main body and an image acquisition module, an illumination module, a signal processing module and a central control unit arranged on the main body, and the image acquisition module, the illumination module and the signal processing module are all electrically connected to the central control unit.

[0013] Compared with the prior art, the present application has the following beneficial effects: the present application ensures that the walking mechanism can meet the synchronization of the driving wheel and the driven wheel under different working conditions and the overall operation is stable by arranging a supporting wheel assembly between the driving wheel and the driven wheel. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] Figure 1 It is a schematic diagram of a three-dimensional assembly of a detection device according to an exemplary embodiment;

[0015] Figure 2 This is a three-dimensional assembly diagram of a walking mechanism of an exemplary embodiment;

[0016] Figure 3 is a schematic diagram of a partial assembly of a walking mechanism of an exemplary embodiment;

[0017] Figure 4 is a schematic diagram of a partial assembly of a support wheel assembly of an exemplary embodiment;

[0018] Figure 5 This is a schematic diagram of the partial assembly of the support wheel assembly from another angle.

[0019] Reference Numbers

[0020] 100-Travel mechanism,

[0021] 1-frame, 10-servo motor, 11-tensioning device, 12-support shaft,

[0022] 2-driving wheel, 20-groove, 3-driven wheel,

[0023] 4-timing belt, 40-ribs, 5-support wheel assembly,

[0024] 50-first support plate, 501-first main body, 502-first holding portion,

[0025] 503, 513-first mounting hole, 504, 514-second mounting hole,

[0026] 505, 515-assembly holes,

[0027] 51-second supporting plate, 511-second main body, 512-second holding portion,

[0028] 53-support wheel, 530-guide groove, 54-reinforcement plate, 541-first through hole,

[0029] 542-second through hole, 543-third through hole, 55-first pin shaft,

[0030] 56-second pin, 57-handle, 570-grip portion,

[0031] 571-fixed shaft, 58-first limit plate, 580-base,

[0032] 581-head, 582-limiting hole, 583-pin hole,

[0033] 59-second limit plate, 6-detection system, 60-image acquisition module,

[0034] 62- signal processing module, 63- central control unit. DETAILED DESCRIPTION

[0035] In order to make the purpose, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are part of the embodiments of the present application, rather than all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the present application. Therefore, the following detailed description of the embodiments of the present application provided in the drawings is not intended to limit the scope of the application for which protection is sought, but merely represents the selected embodiments of the present application. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the present application.

[0036] In the description of the present application, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise" and the like indicating orientations or positional relationships are based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the present application.

[0037] In addition, it should be understood that although the terms first, second, third, etc. may be used in the present application to describe various information, these information should not be limited to these terms. These terms are only used to distinguish the same type of information from each other. For example, without departing from the scope of the present application, the first information may also be referred to as the second information, and similarly, the second information may also be referred to as the first information. Depending on the context, the word "if" as used herein may be interpreted as "at the time of" or "when" or "in response to determining".

[0038] The terms used in this application are only for the purpose of describing specific embodiments and are not intended to limit this application. The singular forms of "a", "said" and "the" used in this application and the appended claims are also intended to include plural forms, unless the context clearly indicates other meanings. In the description of this application, the meaning of "multiple" is two or more, unless otherwise clearly and specifically limited. It should also be understood that the term "and / or" used in this article refers to and includes any or all possible combinations of one or more associated listed items.

[0039] In this application, unless otherwise clearly specified and limited, the terms "installed", "connected", "connected", "fixed" and the like should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements. For ordinary technicians in this field, the specific meanings of the above terms in this application can be understood according to specific circumstances.

[0040] In the present application, unless otherwise clearly specified and limited, a first feature being "above" or "below" a second feature may include that the first and second features are in direct contact, or may include that the first and second features are not in direct contact but are in contact through another feature between them. Moreover, a first feature being "above", "above" and "above" a second feature includes that the first feature is directly above and obliquely above the second feature, or simply indicates that the first feature is higher in level than the second feature. A first feature being "below", "below" and "below" a second feature includes that the first feature is directly below and obliquely below the second feature, or simply indicates that the first feature is lower in level than the second feature.

[0041] Please refer to Figures 1 to 5 As shown, the present application provides a walking mechanism and a detection device thereof, wherein the detection device includes a walking mechanism and a detection system 6 that can be detachably assembled on the walking mechanism. The detection system 6 includes a main body and an image acquisition module 60, a lighting module, a signal processing module 62 and a central control unit 63 arranged on the main body, and the image acquisition module 60, the lighting module and the signal processing module 62 are all electrically connected to the central control unit 63. The image acquisition module 60 uses an infrared camera or a near-infrared camera, the lighting module uses a near-infrared LED lamp assembly, and the signal processing module 62 includes a position signal processing module 62, an environmental signal processing module 62 and a battery signal processing module 62.

[0042] The walking mechanism is used for detection equipment of a photovoltaic power station, and includes a frame 1, a servo motor 10 arranged on the frame 1, a driving wheel 2 rotatably connected to the servo motor 10, and a driven wheel 3 rotatably connected to the driving wheel 2, wherein the driven wheel 3 is assembled at both ends of a support shaft passing through the frame 1, and a synchronous belt 4 is provided on the outer sleeves of the driving wheel 2 and the driven wheel 3 on the same side, and a supporting wheel assembly 5 is provided between the driving wheel 2 and the driven wheel 3 on the same side, wherein the supporting wheel assembly 5 includes a supporting plate and a plurality of supporting wheels 53 assembled on the supporting plate, and the supporting wheel 53 abuts against the synchronous belt 4 and rotates under the drive of the synchronous belt 4. The high synchronization of the driving wheel 2 and the driven wheel 3 of the walking mechanism is ensured by providing the supporting wheel assembly 5, and at the same time, it is ensured that the synchronous belt 4 does not undergo a large deformation or displacement when the walking mechanism performs turning, climbing, and overcoming obstacles.

[0043] Specifically, in one embodiment, the support plate includes a first support plate 50 and a second support plate 51 arranged in parallel. The first support plate 50 and the second support plate 51 have the same structural arrangement. The support wheels 53 are arranged between the first support plate 50 and the second support plate 51 at equal intervals, and the first support plate 50 and the second support plate 51 are assembled and fixed to the frame 1. In this embodiment, the support wheels 53 are arranged in five numbers, and the distance between the support wheel 53 located at the outermost end and the outer circle of the driving wheel 2 and the outer circle of the driven wheel 3 is smaller than the diameter of the support wheel 53, so that the synchronous belt 4 can form a better fit with the photovoltaic panel under different working conditions.

[0044] The first support plate 50 has a first main body 501 and a first holding portion 502 extending upward from both ends of the first main body 501, and the second support plate 51 has a second main body 511 and a second holding portion 512 extending upward from both ends of the second main body 511. The first main body 501 and the second main body 511 are symmetrically provided with a plurality of assembly holes 505 and 515, and the bearings of the support wheel 53 pass through the corresponding assembly holes 505 and 515 and are assembled and fixed with the first main body 501 and the second main body 511. The hole centers of the plurality of assembly holes 505 of the first support plate are located on the same straight line; the hole centers of the plurality of assembly holes 515 of the second support plate are located on the same straight line and the diameters of the assembly holes are adapted to the bearings of the support wheel 53 to ensure the reliability of the assembly of the support wheel. In an exemplary embodiment, the first holding portion 502 and the second holding portion 512 are triangular in shape, and the corners are both provided with arc transitions.

[0045] In order to enhance the stability of the assembly of the support wheel assembly 5, a reinforcing plate 54 is provided between the first retaining portion 502 and the second retaining portion 512. The reinforcing plate 54 is a triangular plate. The first retaining portion 502 and the second retaining portion 512 are provided with corresponding first mounting holes 503, 513 and second mounting holes 504, 514. The reinforcing plate 54 is provided with a first through hole 541 and a second through hole 542. The first pin 55 passes through the first mounting hole 503, the first through hole 541 and the first mounting hole 503 of the second retaining portion 512 in sequence to be assembled and fixed to the frame 1; the second pin 56 passes through the second mounting hole 504, the second through hole 542 and the second mounting hole 504 of the first retaining portion 502 in sequence to be assembled and fixed to the frame 1. The connecting line of the outermost assembly hole 505, the first mounting hole 503 and the second mounting hole 504 forms a triangle, that is, the outermost support wheel 53, the first pin shaft 55 and the second pin shaft 56 form a triangle structure after assembly.

[0046] The reinforcing plate 54 is provided with a third through hole 543, and the supporting wheel assembly 5 is provided with a handle 57. The handle 57 includes a gripping portion 570 and a fixing shaft 571 connected to the gripping portion 570. The fixing shaft 571 passes through the third through hole 543 and is assembled and fixed to the frame 1. The connecting line of the first through hole 541, the second through hole 542 and the third through hole 543 forms a triangle, that is, the first pin shaft 55, the second pin shaft 56 and the handle 57 form a triangular structure after being assembled, so as to better fix and limit the first supporting plate 50 and the second supporting plate 51.

[0047] In an exemplary embodiment, a first limiting plate 58 is provided on the outer side of the first support plate 50, and a second limiting plate 59 is provided on the outer side of the second support plate 51. Limiting holes 582 corresponding to the assembly holes 505 are provided on the first limiting plate 58 and the second limiting plate 59, and the bearings of the support wheels 53 pass through the corresponding limiting holes 582. The aperture of the limiting hole 582 is larger than the shaft diameter of the bearing. When the first limiting plate 58 is assembled, the center line of the assembly hole 505 is concentric with the center line of the limiting hole 582, which facilitates the assembly of the limiting plate and also ensures the smoothness of the walking mechanism when performing actions such as turning.

[0048] The first limiting plate 58 and the second limiting plate 59 are provided with a pin hole 583 corresponding to the second mounting hole 504, and the second pin shaft 56 passes through the pin hole 583, the second mounting hole 504 and the second through hole 542 to be assembled and fixed to the frame 1. In one embodiment, the first limiting plate 58 and the second limiting plate 59 have the same structure, and the structure of the first limiting plate 58 is taken as an example for description below. The first limiting plate 58 includes a base 580 and a head 581 located at both ends of the base 580, the limiting hole 582 is provided in the base 580, and the pin hole 583 is provided in the head 581; the length of the base 580 is less than the length of the first main body 501, and the width of the base 580 is greater than the width of the first main body 501, and the head 581 is assembled and fixed to the first holding portion 502 by means of the second pin shaft 56. After assembly, a portion of the base 580 of the first limiting plate 58 is located outside the synchronous belt 4 , and when the synchronous belt 4 moves sideways, the first limiting plate 58 can limit the synchronous belt 4 .

[0049] The driving wheel 2 and the driven wheel 3 have the same pitch circle diameter and number of teeth, and the synchronous belt 4 is a trapezoidal tooth synchronous belt 4. The teeth of the driving wheel 2 and the driven wheel 3 are provided with continuous and closed grooves 20 along the center line direction of the outer circle, and the middle part of the belt teeth of the synchronous belt 4 is provided with convex ribs 40 that can be accommodated in the grooves 20. The convex ribs 40 are provided along the center line direction of the belt teeth and are a continuous closed structure. The support wheel 53 is provided with a guide groove 530 adapted to the convex ribs 40. By providing the grooves 20 on the driving wheel 2 and the driven wheel 3, and the convex ribs 40 on the synchronous belt 4, the cooperation of the grooves 20 and the convex ribs 40 can enhance the good meshing of the synchronous belt 4 with the driving wheel 2 and the driven wheel 3 under various working conditions of the walking mechanism, and avoid the phenomenon of tooth climbing or tooth jumping.

[0050] In order to ensure that the walking mechanism has good synchronization, the frame 1 is provided with a tensioning device 11 for adjusting the center distance between the driving wheel 2 and the driven wheel 3. The tensioning device 11 includes a tensioning plate arranged on the support shaft and capable of driving the support shaft to rotate, a locking member and a limiting member arranged on the frame 1; the locking member can lock or unlock the tensioning plate, and the limiting member limits the position of the tensioning plate after it is in a tensioned state.

[0051] The above-mentioned embodiments only express several implementation methods of the present application, and the descriptions thereof are relatively specific and detailed, but they cannot be understood as limiting the scope of the invention patent. It should be pointed out that, for a person of ordinary skill in the art, several variations and improvements can be made without departing from the concept of the present application, and these all belong to the protection scope of the present application. Therefore, the protection scope of the patent of the present application shall be subject to the attached claims.

Claims

1. A walking mechanism, used for detection equipment of photovoltaic power station, characterized in that: The present invention relates to a method for adjusting the rotation of the driving wheel and the control wheel, wherein the driving wheel and the control wheel are connected in an orderly manner to each other, and the control wheel and the control wheel are connected in an orderly manner to each other. The second main body is symmetrically provided with a plurality of assembly holes; a reinforcing plate is provided between the first holding portion and the second holding portion, and the first holding portion and the second holding portion are provided with corresponding first mounting holes and second mounting holes, and the connecting line of the assembly hole, the first mounting hole and the second mounting hole at the outermost end forms a triangle, the reinforcing plate is provided with a first through hole, a second through hole and a third through hole, the first pin passes through the first mounting hole and the first through hole to be assembled and fixed with the frame, the second pin passes through the second mounting hole and the second through hole to be assembled and fixed with the frame, and the connecting line of the first through hole, the second through hole and the third through hole forms a triangle, and a handle is provided on the support wheel assembly, the handle includes a gripping portion and a fixed shaft connected to the gripping portion, and the fixed shaft passes through the third through hole to be assembled and fixed with the frame, a first limiting plate is provided on the outer side of the first support plate, and a second limiting plate is provided on the outer side of the second support plate, and limiting holes corresponding to the assembly holes are provided on the first limiting plate and the second limiting plate, and the bearing of the support wheel passes through the corresponding limiting hole, and the aperture of the limiting hole is larger than the shaft diameter of the support wheel bearing.

2. The walking mechanism according to claim 1, characterized in that: The support wheels are arranged at equal intervals between the first support plate and the second support plate.

3. The walking mechanism according to claim 2, characterized in that: The bearing of the support wheel passes through the corresponding assembly hole and is assembled and fixed with the first main body and the second main body.

4. The walking mechanism according to claim 3, characterized in that: The first limiting plate and the second limiting plate are provided with pin holes corresponding to the second mounting hole, and the second pin shaft passes through the pin hole, the second mounting hole and the second through hole to be assembled and fixed to the frame.

5. The walking mechanism according to any one of claims 1 to 4, characterized in that: The driving wheel and the driven wheel have the same pitch circle diameter and number of teeth, the synchronous belt is a trapezoidal tooth synchronous belt, the teeth of the driving wheel and the driven wheel are provided with continuous and closed grooves along the center line direction of the outer circle, and the convex ribs can be accommodated in the grooves.

6. The walking mechanism according to claim 5, characterized in that: The frame is provided with a tensioning device for adjusting the center distance between the driving wheel and the driven wheel, and the tensioning device includes a tensioning plate arranged on the support shaft and capable of driving the support shaft to rotate, a locking member and a limiting member arranged on the frame; the locking member can lock or unlock the tensioning plate, and the limiting member limits the position of the tensioning plate after being in a tensioned state.

7. A detection device, used for the detection of photovoltaic power stations, characterized in that: It comprises a walking mechanism as described in any one of claims 1 to 6 and a detection system that can be detachably assembled on the walking mechanism, the detection system comprises a main body and an image acquisition module, a lighting module, a signal processing module and a central control unit arranged on the main body, and the image acquisition module, the lighting module and the signal processing module are all electrically connected to the central control unit.

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