Walking deviation rectifying structure of photovoltaic cleaning robot

Abstract

The utility model discloses a photovoltaic cleaning robot walking deviation rectifying structure, which relates to the technical field of cleaning robots and comprises a shell, two first power shafts are rotatably connected onto the shell, power wheels are mounted on the two first power shafts, a first driving component for driving the first power shafts to rotate is arranged in the shell, and a second driving component for driving the second power shafts to rotate is arranged in the shell. The shell is fixedly connected with a fixing base, the fixing base is rotationally connected with two second power shafts, the two second power shafts are both fixedly connected with deviation rectifying wheels, and the shell is rotationally connected with a transmission rod. The deviation rectifying device is reasonable in design structure, the two power wheels are arranged between the two deviation rectifying wheels, the transmission rod is driven by the second driving assembly to rotate on the shell, and under the action of the transmission assembly, the two deviation rectifying wheels compensate movement of the robot after the power wheels slip. And the situation that the moving track deviates after the power wheel slips is avoided, the robot can be rapidly corrected, and the correction efficiency is high.

Description

Technical Field

[0001] The utility model relates to the technical field of cleaning robots, in particular to a walking deviation correction structure of a photovoltaic cleaning robot. Background Art

[0002] With the gradual depletion of traditional fossil energy and people's increasing concern about environmental pollution, solar photovoltaic power generation has been increasingly used as one of the main green energy sources, and the scale of solar power stations has reached an unprecedented level. However, in the actual operation of photovoltaic power stations, due to long-term exposure to the outdoors, tiny dust particles in the air can easily accumulate on the surface of photovoltaic panels to form dust, resulting in reduced power generation efficiency of photovoltaic modules, causing huge economic losses to photovoltaic power generation companies. Therefore, the cleaning of solar photovoltaic panels has become an important issue in the operation and maintenance of photovoltaic power stations.

[0003] When the photovoltaic cleaning robot walks along the surface of the photovoltaic panel, the photovoltaic panel will cause the robot to slip due to the surface material. When one side of the walking track slips and the other side does not slip, the cleaning robot will deviate from the direction. If it is not corrected in time, it is easy to cause the deviation angle to become larger and larger, causing the cleaning robot to deviate from the original cleaning track. To this end, we provide a photovoltaic cleaning robot walking correction structure to solve the above problems. Utility Model Content

[0004] 1) Technical issues solved

[0005] The purpose of the utility model is to make up for the deficiencies of the prior art and to provide a walking deviation correction structure for a photovoltaic cleaning robot.

[0006] 2) Technical solution

[0007] To achieve the above-mentioned purpose, the utility model provides the following technical solutions: a walking correction structure of a photovoltaic cleaning robot, comprising a shell, two first power shafts are rotatably connected to the shell, and power wheels are installed on the two first power shafts. A first driving component for driving the first power shaft to rotate is arranged in the shell, a fixed seat is fixedly connected to the shell, and two second power shafts are rotatably connected to the fixed seat, and correction wheels are fixedly connected to the two second power shafts. A transmission rod is rotatably connected to the shell, a transmission assembly is arranged on the transmission rod, and the transmission rod is transmission-connected to the two second power shafts through the transmission assembly, and a second driving component for driving the transmission rod to rotate is arranged in the shell.

[0008] Furthermore, the first driving assembly includes a first motor and a third gear installed on the output shaft of the first motor. A support base is installed in the shell, and a fourth gear is rotatably connected to the support base. The third gear is meshed with the fourth gear.

[0009] Furthermore, the first driving assembly also includes a sixth gear fixedly connected to the first power shaft, a fifth gear is rotatably connected in the housing, and the fifth gear is meshed with the fourth gear and the sixth gear.

[0010] Furthermore, the second driving assembly includes a second motor fixedly connected to the housing, and a second gear fixedly connected to the transmission rod. The output shaft of the second motor is equipped with a first gear, and the first gear is meshed with the second gear.

[0011] Furthermore, the transmission assembly includes two first transmission wheels fixedly connected to the transmission rod, and the two second power shafts are both fixedly connected to second transmission wheels, and the first transmission wheels are connected to the second transmission wheels through belt transmission.

[0012] Furthermore, a fixing plate is provided on one side of the fixing seat, and the first power shaft and the second power shaft are both rotatably connected to the fixing plate.

[0013] 3) Beneficial effects:

[0014] Compared with the prior art, the photovoltaic cleaning robot walking correction structure has the following beneficial effects:

[0015] The utility model arranges the two power wheels between the two correcting wheels through the coordinated arrangement of the second driving component, the transmission rod, the transmission component, the two second power shafts and the correcting wheels, and drives the transmission rod to rotate on the shell through the second driving component. Under the action of the transmission component, the two correcting wheels compensate for the movement of the robot after the power wheels slip, thereby avoiding the situation where the moving track of the robot deviates after the power wheels slip, and the robot can be corrected quickly with high correction efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 It is a schematic diagram of the overall structure of the utility model;

[0017] Figure 2 For this utility model Figure 1 A magnified schematic diagram of the structure in the middle.

[0018] In the figure: 1. shell; 2. first power shaft; 3. power wheel; 4. fixed seat; 5. second power shaft; 6. correction wheel; 7. transmission rod; 8. first transmission wheel; 9. second transmission wheel; 10. fixed plate; 11. second motor; 12. first gear; 13. second gear; 14. third gear; 15. support seat; 16. fourth gear; 17. fifth gear; 18. sixth gear. DETAILED DESCRIPTION

[0019] The following will be combined with the drawings in the embodiments of the utility model to clearly and completely describe the technical solutions in the embodiments of the utility model. Obviously, the described embodiments are only part of the embodiments of the utility model, not all of the embodiments. Based on the embodiments in the utility model, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the utility model.

[0020] like Figure 1-2 As shown, the utility model provides a technical solution: a walking correction structure for a photovoltaic cleaning robot, comprising a shell 1, to which two first power shafts 2 are rotatably connected, and power wheels 3 are installed on the two first power shafts 2. The power wheels 3 serve as the main moving parts of the robot and can drive the robot to move on the photovoltaic part. A first driving component for driving the first power shaft 2 to rotate is arranged in the shell 1.

[0021] The first driving assembly includes a first motor and a third gear 14 installed on the output shaft of the first motor. A support seat 15 is installed in the shell 1. A fourth gear 16 is rotatably connected to the support seat 15. The third gear 14 is meshed with the fourth gear 16. After the third gear 14 is driven to rotate by the first motor, the fourth gear 16 can be rotated on the support seat 15.

[0022] The first driving assembly also includes a sixth gear 18 fixedly connected to the first power shaft 2, and a fifth gear 17 is rotatably connected in the shell 1, and the fifth gear 17 is meshed with the fourth gear 16 and the sixth gear 18. Under the action of the fourth gear 16 and the fifth gear 17, the sixth gear 18 drives the power wheel 3 on the first power shaft 2 to rotate, providing rotational power for the power wheel 3.

[0023] A fixed base 4 is fixedly connected to the shell 1, and two second power shafts 5 are rotatably connected to the fixed base 4. The two second power shafts 5 are both fixedly connected with a correction wheel 6. A fixed plate 10 is provided on one side of the fixed base 4, and the first power shaft 2 and the second power shaft 5 are both rotatably connected to the fixed plate 10.

[0024] A transmission rod 7 is rotatably connected to the shell 1, and a transmission assembly is provided on the transmission rod 7. The transmission rod 7 is transmission-connected to the two second power shafts 5 through the transmission assembly. The transmission assembly includes two first transmission wheels 8 fixedly connected to the transmission rod 7, and the two second power shafts 5 are both fixedly connected to second transmission wheels 9, and the first transmission wheel 8 and the second transmission wheel 9 are connected through belt drive.

[0025] After the transmission rod 7 rotates, it can drive the two second power shafts 5 to rotate at the same time under the action of the second transmission wheel 9 and the first transmission wheel 8, and correct and compensate the movement of the power wheel 3 under the action of the correction wheel 6.

[0026] A second driving assembly for driving the transmission rod 7 to rotate is provided in the housing 1. The second driving assembly includes a second motor 11 fixedly connected to the housing 1 and a second gear 13 fixedly connected to the transmission rod 7. The output shaft of the second motor 11 is equipped with a first gear 12, and the first gear 12 is meshed with the second gear 13.

[0027] The second motor 11 is connected to the encoder, so that when the robot is offset, a signal is sent to the encoder through the sensor carried by the robot itself, and the encoder controls the output shaft of the second motor 11 to rotate, so that the output shaft of the second motor 11 drives the first gear 12 to rotate, and under the action of the second gear 13, provides rotational power to the transmission rod 7.

[0028] It should be noted that, in this article, the orientation or position relationship indicated by the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inside", "outside", etc. is based on the orientation or position relationship shown in the drawings, which is only for the convenience of describing the utility model and simplifying the description, and does not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the utility model; the terms "first", "second", and "third" are only used for descriptive purposes and cannot be understood as indicating or implying relative importance. In addition, unless otherwise clearly specified and limited, the terms "fixed", "installed", "connected", and "connected" should be understood in a broad sense. For example, "installed" can be a fixed connection, a detachable connection, or an integral connection; "connected" can be a mechanical connection or an electrical connection; "connected" can be a direct connection, an indirect connection through an intermediate medium, or a connection between the two elements. For ordinary technicians in this field, the specific meanings of the above terms in the utility model can be understood according to specific circumstances.

[0029] Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A photovoltaic cleaning robot walking correction structure, comprising a housing (1), characterized in that: The housing (1) is rotatably connected to two first power shafts (2), and the two first power shafts (2) are both mounted with power wheels (3). A first driving assembly for driving the first power shafts (2) to rotate is arranged in the housing (1). A fixing seat (4) is fixedly connected to the housing (1), and two second power shafts (5) are rotatably connected to the fixing seat (4), and the two second power shafts (5) are both fixedly connected with deviation-correcting wheels (6). A transmission rod (7) is rotatably connected to the housing (1), and a transmission assembly is arranged on the transmission rod (7), and the transmission rod (7) is transmission-connected to the two second power shafts (5) via the transmission assembly. A second driving assembly for driving the transmission rod (7) to rotate is arranged in the housing (1).

2. A photovoltaic cleaning robot walking correction structure according to claim 1, characterized in that: The first driving assembly comprises a first motor and a third gear (14) mounted on the output shaft of the first motor; a support seat (15) is mounted in the housing (1); a fourth gear (16) is rotatably connected to the support seat (15); and the third gear (14) is meshed with the fourth gear (16).

3. A photovoltaic cleaning robot walking correction structure according to claim 2, characterized in that: The first drive assembly also includes a sixth gear (18) fixedly connected to the first power shaft (2), a fifth gear (17) is rotatably connected inside the housing (1), and the fifth gear (17) is meshed with the fourth gear (16) and the sixth gear (18).

4. The photovoltaic cleaning robot walking correction structure according to claim 1, characterized in that: The second driving assembly comprises a second motor (11) fixedly connected to the housing (1), and a second gear (13) fixedly connected to the transmission rod (7); the output shaft of the second motor (11) is provided with a first gear (12), and the first gear (12) is meshed with the second gear (13).

5. The photovoltaic cleaning robot walking deviation correction structure according to claim 1, characterized in that: The transmission assembly comprises two first transmission wheels (8) fixedly connected to a transmission rod (7), two second power shafts (5) are both fixedly connected to second transmission wheels (9), and the first transmission wheels (8) and the second transmission wheels (9) are connected via a belt drive.

6. The photovoltaic cleaning robot walking correction structure according to claim 1, characterized in that: A fixing plate (10) is provided on one side of the fixing seat (4), and the first power shaft (2) and the second power shaft (5) are both rotatably connected to the fixing plate (10).

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