Crawler walking mechanism and photovoltaic panel cleaning robot

Abstract

The invention discloses a crawler walking mechanism and a photovoltaic panel cleaning robot, the crawler walking mechanism is used for cleaning a photovoltaic panel of a photovoltaic power station, the crawler walking mechanism comprises a frame, a driving wheel, a driven wheel and a crawler belt, the driving wheel and the driven wheel are installed on the frame, the crawler belt is connected between the driving wheel and the driven wheel, and the driving wheel is arranged by being lifted by a certain distance; meanwhile, auxiliary wheels used for increasing the contact area of the crawler belt and the photovoltaic panel are arranged on the frame between the driving wheel and the driven wheel, the auxiliary wheels comprise a first auxiliary wheel close to the driving wheel and a plurality of second auxiliary wheels located between the first auxiliary wheel and the driven wheel, and the second auxiliary wheels are connected with the frame through floating assemblies; the floating assembly can enable the second auxiliary wheel to keep pressure towards the bottom. The crawler walking mechanism can make contact with the photovoltaic panel in a large area as much as possible, the situation that the photovoltaic panel is broken due to the fact that local pressure of the photovoltaic panel is too large is avoided, and the situation that the photovoltaic panel is broken due to the fact that the driving wheels knock the photovoltaic panel can also be avoided.

Description

Technical Field

[0001] The present invention relates to the field of robots, and particularly to a crawler walking mechanism and a photovoltaic panel cleaning robot. Background Art

[0002] The photovoltaic panel cleaning robot is used to clean the photovoltaic panels of a photovoltaic power station. During long-term use, dust is likely to accumulate on the surface of the photovoltaic panels of the photovoltaic power station, affecting the power generation efficiency.

[0003] The cleaning robot includes a vehicle body. The vehicle body uses a frame as a carrier and is equipped with a driving module, a power supply, a main control, etc. A control module and a positioning module are also installed on the body. The positioning module 4 is specifically an RTK module. The front end and the rear end of the vehicle body are respectively connected to a front cleaning component and a rear cleaning component through quick-release components. A walking component is arranged on the frame for the machine to walk, and the walking component adopts a crawler form.

[0004] In the crawler assembly, the driving wheel is at the rear. During actual use, the driving wheel is connected to the crawler through tooth meshing. For the photovoltaic cleaning robot product, in order to ensure that the photovoltaic panel is not damaged, it is usually required that the crawler contacts the photovoltaic panel as large as possible. Therefore, the driving wheel is usually at the same height as other driven wheels. However, with such a design, during the operation of the machine, it is easy to jump, resulting in the crawler at the driving wheel hitting the photovoltaic panel, which is more likely to cause damage to the photovoltaic panel. The reason for the jump is that the driving wheel and the crawler are meshed by teeth. During the forward movement of the machine, due to the certain elasticity of the crawler, at the meshing position of the driving wheel and the crawler, extrusion is likely to occur. After the crawler is extruded and unloads the force, it may jump, and then the crawler may hit the photovoltaic panel, resulting in damage to the photovoltaic panel. Summary of the Invention

[0005] In view of the above technical problems, the present invention proposes a crawler walking mechanism. In this crawler walking mechanism, the crawler can contact the photovoltaic panel as large as possible, avoiding excessive local pressure on the photovoltaic panel and causing the photovoltaic panel to break. If the driving wheel jumps, it can also avoid the driving wheel hitting the photovoltaic panel and causing the photovoltaic panel to break.

[0006] In order to achieve the above technical purpose, the present invention adopts the following technical means: A crawler walking mechanism for walking on the surface of a photovoltaic panel, including a frame, a driving wheel and a driven wheel installed on the frame, and a crawler connected between the driving wheel and the driven wheel. The driving wheel is driven by a driving component to rotate, and the driving wheel can move in the vertical direction.

[0007] A crawler walking mechanism for walking on the surface of a photovoltaic panel, comprising a vehicle frame, a driving wheel and a driven wheel mounted on the vehicle frame, and a crawler connected between the driving wheel and the driven wheel. The driving wheel is driven by a driving component to rotate, and the height of the lower edge of the driving wheel is higher than that of the lower edge of the driven wheel.

[0008] When the machine is stationary and / or the driving wheel is only affected by the driving force of the driving component and the tension force of the crawler, the height of the lower edge of the driving wheel is the same as that of the driven wheel.

[0009] The motor is floatingly arranged. A vertical sliding groove is provided on the vehicle frame. One side of the output end of the motor is slidably connected in the vertical sliding groove and can move up and down. Elastic members are respectively provided between the upper part of the motor and the top of the vehicle frame, and between the lower part of the motor and the bottom of the vehicle frame. The motor together with the driving wheel has a certain floating space in the vertical direction.

[0010] The motor is floatingly arranged. A vertical sliding groove is provided on the vehicle frame. An elastic member is provided between the upper part of the motor and the top of the vehicle frame. The motor together with the driving wheel has a certain floating space in the vertical direction. A buffer pad is provided between the lower part of the motor and the bottom of the vehicle frame. During the walking process, when the driving wheel does not bounce, the motor is kept at the lower limit position under the action of the force of the upper elastic member. At this time, the height of the lower edge of the driving wheel is the same as that of the lower edge of the driven wheel. If the driving wheel bounces, the motor can move upward against the elastic force of the upper elastic member.

[0011] The motor is floatingly arranged. An elastic member is provided between the upper part of the motor and the top of the vehicle frame. The motor together with the driving wheel has a certain floating space in the vertical direction. A lifting mechanism is arranged inside the vehicle frame. The lifting mechanism can limit the lower limit position of the motor and does not prevent the motor from moving upward. When the machine runs straight, the motor can be kept at the lower limit position under the action of the force of the upper elastic member. At this time, the height of the lower edge of the driving wheel is the same as that of the lower edge of the driven wheel. When the machine turns, the lifting mechanism can lift the motor upward, and the driving wheel is lifted to a certain height.

[0012] The lifting mechanism is an electric elevator or a hydraulic elevator. The output end thereof has a movable lifting rod. A lifting block is arranged on the lifting rod. A clamping block in contact with the lifting block is arranged on the motor. The upper part of the clamping block is not in contact with the lifting block. When the lifting rod moves up and down, the lifting block only limits the lower limit position of the clamping block, that is, limits the lower limit position of the motor and does not prevent the motor from moving upward.

[0013] An auxiliary wheel for increasing the contact area between the crawler and the photovoltaic panel is provided on the vehicle frame located between the driving wheel and the driven wheel. The auxiliary wheel includes a first auxiliary wheel adjacent to the driving wheel and several second auxiliary wheels located between the first auxiliary wheel and the driven wheel. The second auxiliary wheel is connected to the vehicle frame through a floating component, and the floating component can make the second auxiliary wheel maintain a downward pressure.

[0014] The floating component includes: An L-shaped swing arm, one end of which is movably connected to the vehicle frame through a rotating shaft, and the other end is provided with a wheel axle through a wheel mounting port. The second auxiliary wheel is sleeved on the wheel axle; The L-shaped swing arm is connected to the vehicle frame through an elastic tension member.

[0015] A photovoltaic panel cleaning robot adopts the crawler running mechanism described above. Beneficial effects

[0016] First. For the crawler running mechanism of the present invention, in order to solve the bouncing problem caused by the meshing and extrusion between the driving wheel and the crawler, the driving wheel is lifted by a certain distance. At the same time, in order to increase the contact area between the crawler and the photovoltaic panel as much as possible when the driving wheel is lifted, the first auxiliary wheel is fixedly arranged, several second auxiliary wheels are arranged, and they are located between the first auxiliary wheel and the driven wheel. The second auxiliary wheel is floatingly arranged, and under the pulling of the tension member, the second auxiliary wheel maintains a downward pressure.

[0017] Second. For the crawler running mechanism of the present invention, elastic members are arranged between the upper and lower parts of the motor and the bottom and top of the vehicle frame. The motor together with the driving wheel has a certain floating space in the vertical direction. During the operation of the machine, the driving wheel is lifted by a certain height. According to the actual operation situation, the driving wheel can have a certain moving space in the vertical direction. If there is a jump, it can avoid knocking on the photovoltaic panel. At the same time, the elastic member can also absorb a certain amount of kinetic energy of the jump and relieve the vibration caused by the jump of the driving wheel.

[0018] Third. For the crawler running mechanism of the present invention, the motor is floatingly arranged, but there is only an elastic member between the upper part of the motor and the top of the vehicle frame. The motor together with the driving wheel has a certain floating space in the vertical direction. A buffer pad is arranged between the lower part of the motor and the bottom of the vehicle frame. The buffer pad can be made of materials with buffer functions such as rubber and sponge. During the operation of the machine, when the driving wheel does not jump, under the action of the elastic member above, the motor maintains the lower limit position. At this time, the lower edge height of the driving wheel is the same as the lower edge heights of the auxiliary wheel and the driven wheel, and the crawler can contact the photovoltaic panel as large as possible, avoiding excessive local pressure on the photovoltaic panel and causing the photovoltaic panel to break. If the driving wheel jumps, due to the upward movement space of the motor, it can avoid knocking on the photovoltaic panel. At the same time, the elastic member can also absorb a certain amount of kinetic energy of the jump and relieve the vibration caused by the jump of the driving wheel.

[0019] Fourth. A crawler traveling mechanism of the present invention, wherein the motor is floatingly arranged, an elastic member is arranged between the upper part of the motor and the top of the vehicle frame, and there is a certain floating space for the motor together with the driving wheel in the vertical direction; a lifting mechanism is arranged inside the vehicle frame, and the lifting mechanism can limit the lower limit position of the motor and does not prevent the motor from moving upward; when the machine is running straight, under the action of the elastic member above, the motor can be kept at the lower limit position, at this time the height of the lower edge of the driving wheel is the same as the height of the lower edges of the auxiliary wheels and the driven wheels, and the crawler can contact the photovoltaic panel as large as possible; when the machine turns, the lifting mechanism can lift the motor upward, and the driving wheel is lifted by a certain height, reducing the contact area of the crawler and reducing the turning resistance. Description of the Drawings

[0020] Figure 1 is a schematic structural diagram of the crawler traveling mechanism in the first embodiment of the present invention; Wherein, 1 is the driving wheel; 2 is the driven wheel; 3 is the first auxiliary wheel; 4 is the second auxiliary wheel; 5 is the elastic tension member; Figure 2 is Figure 1 the installation schematic diagram of the second auxiliary wheel in Wherein, 6 is the L-shaped swing arm; 7 is the rotating shaft; 8 is the wheel mounting port; Figure 3 is the connection schematic diagram of the auxiliary wheel and the wheel axle; Wherein, 9 is the wheel axle; Figure 4 is the schematic structural diagram of the fixed installation of the motor; Wherein, 10 is the motor; 11 is the crawler; Figure 5 is the schematic structural diagram of the floating setting of the motor in an embodiment; Wherein, 12 is the elastic member; Figure 6 is the schematic structural diagram of the vertical chute on the vehicle frame when the motor is floatingly arranged; Wherein, 13 is the vertical chute; Figure 7 is the schematic structural diagram of the floating setting of the motor in another embodiment; Wherein, 13 is the buffer pad; Figure 8 is the schematic structural diagram of the same height of the lower edge of the driving wheel and the lower edges of the auxiliary wheels and the driven wheels; Figure 9 is the schematic structural diagram of the lifting mechanism further arranged inside the vehicle frame; Wherein, 14 is the lifting mechanism; Figure 10 is Figure 9 the partial enlarged schematic diagram of the A position in Among them, 15 is the lifting block; 16 is the lifting rod; 17 is the clamping block. Embodiment

[0021] The technical solution of the present invention will be further described in detail below with reference to the accompanying drawings of the specification and specific embodiments. Example

[0022] A crawler traveling mechanism of the present invention raises the driving wheel by a certain distance in order to solve the bouncing problem caused by the meshing and extrusion between the driving wheel and the crawler. At the same time, in order to increase the contact area between the crawler and the photovoltaic panel as much as possible when the driving wheel is raised, the first auxiliary wheel is fixedly arranged, and a plurality of second auxiliary wheels are arranged and located between the first auxiliary wheel and the driven wheel. The second auxiliary wheel is floatingly arranged, and under the pulling of the tension member, the second auxiliary wheel maintains a downward pressure.

[0023] As Figure 1 and Figure 2 shown, for the specific installation form of the second auxiliary wheel, an L-shaped swing arm is provided. One end of the swing arm is movably connected to the vehicle frame through a rotating shaft, and the other end of the swing arm is provided with a wheel shaft through a wheel mounting port, and the second auxiliary wheel is sleeved on the wheel shaft.

[0024] The swing arm is connected to the vehicle frame through a tension member.

[0025] As a preferred solution of the above Embodiment 1, the elastic tension member is a tension spring.

[0026] As Figure 3 shown, for the motor installation method, in this embodiment, the motor is fixedly installed. Example

[0027] As Figure 4 and Figure 5 shown, the difference between this embodiment and Embodiment 1 is that in this embodiment, the motor is floatingly arranged, and a chute is provided on the vehicle frame. One side of the output end of the motor is slidably connected in the chute and can move up and down.

[0028] Elastic members are provided between the upper and lower sides of the motor and the bottom and top of the vehicle frame, and the motor together with the driving wheel has a certain floating space in the vertical direction.

[0029] During the operation of the machine, the driving wheel is lifted by a certain height. According to the actual operation situation, the driving wheel can have a certain moving space in the vertical direction. If the driving wheel jumps, it can avoid knocking on the photovoltaic panel. At the same time, the elastic member can also absorb a certain amount of kinetic energy of the jump and relieve the vibration caused by the jump of the driving wheel. Example

[0030] As Figure 6As shown, the difference between this embodiment and Embodiment 1 and Embodiment 2 is that in this embodiment, the motor is floatingly arranged, but there is only an elastic member between the upper part of the motor and the top of the vehicle frame. The motor together with the driving wheel has a certain floating space in the vertical direction. A buffer pad is arranged between the lower part of the motor and the bottom of the vehicle frame. The buffer pad can be made of materials with buffering functions such as rubber and sponge.

[0031] During the operation of the machine, when the driving wheel does not bounce, the motor is kept at the lower limit position under the action of the force of the upper elastic member. At this time, the height of the lower edge of the driving wheel is the same as that of the lower edges of the auxiliary wheel and the driven wheel. The crawler can contact the photovoltaic panel as large as possible, avoiding excessive local pressure on the photovoltaic panel and causing the photovoltaic panel to break. If the driving wheel bounces, since the motor has a surplus space for upward movement, it can avoid knocking on the photovoltaic panel. At the same time, the elastic member can also absorb a certain amount of kinetic energy of the bounce and relieve the vibration caused by the bounce of the driving wheel. Embodiment

[0032] As Figures 7 - 9 As shown, the difference between this embodiment and the above three embodiments is that in this embodiment, the motor is floatingly arranged, but there is only an elastic member between the upper part of the motor and the top of the vehicle frame. The motor together with the driving wheel has a certain floating space in the vertical direction. A lifting mechanism is also arranged inside the vehicle frame. The lifting mechanism can drive the motor to have a certain displacement in the vertical direction.

[0033] A buffer pad can be arranged between the lower part of the motor and the bottom of the vehicle frame. The buffer pad can be made of materials with buffering functions such as rubber and sponge.

[0034] The lifting mechanism can be a motor, a hydraulic lift, etc. Its output end has a movable lifting rod. A lifting block is arranged on the lifting rod. A clamping block in contact with the lifting block is arranged on the motor. The upper part of the clamping block is not in contact with the lifting block. When the lifting rod moves up and down, the lifting block only limits the lower limit position of the clamping block, that is, limits the lower limit position of the motor and does not prevent the motor from moving upward.

[0035] During the operation of the machine, when the driving wheel does not bounce, the motor is kept at the lower limit position under the action of the force of the upper elastic member. At this time, the height of the lower edge of the driving wheel is the same as that of the lower edges of the auxiliary wheel and the driven wheel. The crawler can contact the photovoltaic panel as large as possible, avoiding excessive local pressure on the photovoltaic panel and causing the photovoltaic panel to break. If the driving wheel bounces, since the motor has a surplus space for upward movement, it can avoid knocking on the photovoltaic panel. At the same time, the elastic member can also absorb a certain amount of kinetic energy of the bounce and relieve the vibration caused by the bounce of the driving wheel.

[0036] The purpose of setting the lifting mechanism is to improve the turning ability of the machine. When the machine is running straight, the size of the track contact area with the ground does not affect the straight running of the machine. However, when the machine is turning, the larger the contact area between the track and the ground, the greater the turning resistance of the machine.

[0037] In order to reduce the resistance when the machine is turning, a lifting mechanism is added. When the machine is turning, the lifting mechanism raises the motor, and the driving wheel is lifted to a certain height, reducing the track contact area and the turning resistance.

[0038] Reducing the track contact area during turning may cause the pressure on the photovoltaic panel to increase. However, many photovoltaic cleaning robots are equipped with special steering suction cups. When the photovoltaic cleaning robot is turning, the steering suction cups adsorb the photovoltaic panel, which can increase the total contact area, thus eliminating the influence of the reduced track contact area. The relevant structure of the steering suction cup can refer to Patent CN110882971A.

Claims

1. A crawler travel mechanism for traveling on the surface of a photovoltaic panel, comprising a vehicle frame, a driving wheel and a driven wheel mounted on the vehicle frame, and a crawler connected between the driving wheel and the driven wheel, wherein the driving wheel is driven by a driving component to rotate. Characterized in that, the driving wheel can move in the vertical direction.

2. A crawler travel mechanism for traveling on the surface of a photovoltaic panel, comprising a vehicle frame, a driving wheel and a driven wheel mounted on the vehicle frame, and a crawler connected between the driving wheel and the driven wheel, wherein the driving wheel is driven by a driving component to rotate. Characterized in that, the height of the lower edge of the driving wheel is higher than the height of the lower edge of the driven wheel.

3. The crawler travel mechanism according to claim 1, Characterized in that, when the machine is stationary and / or the driving wheel is only affected by the driving force of the driving component and the tension force of the crawler, the height of the lower edge of the driving wheel is the same as that of the driven wheel.

4. The crawler travel mechanism according to claim 3, Characterized in that, the motor is floatingly arranged, a vertical chute is provided on the vehicle frame, and one side of the output end of the motor is slidably connected in the vertical chute and can move up and down; elastic members are respectively provided between the upper part of the motor and the top of the vehicle frame and between the lower part of the motor and the bottom of the vehicle frame, and the motor together with the driving wheel has a certain floating space in the vertical direction.

5. The crawler travel mechanism according to claim 3, Characterized in that, the motor is floatingly arranged, a vertical chute is provided on the vehicle frame, and an elastic member is provided between the upper part of the motor and the top of the vehicle frame, and the motor together with the driving wheel has a certain floating space in the vertical direction; a buffer pad is provided between the lower part of the motor and the bottom of the vehicle frame; during the traveling process, when the driving wheel does not jump, the motor is kept at the lower limit position under the action of the force of the upper elastic member, and at this time, the height of the lower edge of the driving wheel is the same as that of the driven wheel; if the driving wheel jumps, the motor can move upward against the elastic force of the upper elastic member.

6. The crawler travel mechanism according to claim 1, Characterized in that, the motor is floatingly arranged, an elastic member is provided between the upper part of the motor and the top of the vehicle frame, and the motor together with the driving wheel has a certain floating space in the vertical direction; a lifting mechanism is arranged inside the vehicle frame, and the lifting mechanism can limit the lower limit position of the motor and does not prevent the motor from moving upward; when the machine runs straight, the motor can be kept at the lower limit position under the action of the force of the upper elastic member, and at this time, the height of the lower edge of the driving wheel is the same as that of the driven wheel; when the machine turns, the lifting mechanism can lift the motor upward, and the driving wheel is lifted by a certain height.

7. The crawler travel mechanism according to claim 6, Characterized in that, the lifting mechanism is an electric elevator or a hydraulic elevator, and its output end has a movable lifting rod. A lifting block is arranged on the lifting rod, and a clamping block in contact with the lifting block is arranged on the motor. The upper part of the clamping block is not in contact with the lifting block. When the lifting rod moves up and down, the lifting block only limits the lower limit position of the clamping block, that is, limits the lower limit position of the motor and does not prevent the motor from moving upward.

8. The crawler travel mechanism according to any one of claims 1-7, Characterized in that, An auxiliary wheel for increasing the contact area between the crawler and the photovoltaic panel is provided on the vehicle frame located between the driving wheel and the driven wheel. The auxiliary wheel includes a first auxiliary wheel adjacent to the driving wheel and a plurality of second auxiliary wheels located between the first auxiliary wheel and the driven wheel. The second auxiliary wheel is connected to the vehicle frame through a floating component, and the floating component can make the second auxiliary wheel maintain a downward pressure.

9. The crawler running gear according to claim 8, characterized in that the floating component includes: an L-shaped swing arm, one end of which is movably connected to the vehicle frame through a rotating shaft, and the other end is provided with a wheel shaft through a wheel mounting port, and the second auxiliary wheel is sleeved on the wheel shaft; The L-shaped swing arm is connected to the vehicle frame through an elastic tension member.

10. A photovoltaic panel cleaning robot, characterized in that it adopts the crawler running gear according to any one of claims 1 to 9.

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