Buckle type rope traction fixing mechanism of photovoltaic cleaning robot

Abstract

The utility model discloses a buckle type rope traction fixing mechanism of a photovoltaic cleaning robot, which belongs to the technical field of photovoltaic cleaning robots and comprises a wheel type buckle (1) and a rope traction device (2), the wheel type buckle (1) comprises two groups of drivable rollers which are symmetrical up and down, and the rope traction device (2) is connected with the wheel type buckle (1). The rope traction device (2) comprises a buckle part (21) and a robot part (22), the buckle part (21) is fixedly connected with the upper end of the wheel type buckle (1), the robot part (22) is fixedly connected with the upper end of the photovoltaic cleaning robot, and the buckle part (21) is connected with the robot part (22) through a safety rope; an electronic control device (3) is hung on the right side of the lower end of the wheel type buckle (1), a visual camera (5) is arranged right in front of the buckle part (21), and a power source for providing power for the buckle type rope traction fixing mechanism is arranged. The wall-climbing type photovoltaic cleaning robot solves the problem that an existing wall-climbing type photovoltaic cleaning robot generally lacks effective safety measures, and can effectively solve the problem that the robot rushes out of the edge of a panel and falls off under special conditions.

Description

Technical Field

[0001] The utility model relates to the technical field of photovoltaic cleaning robots, in particular to a buckle-type rope-pulling fixing mechanism of a photovoltaic cleaning robot. Background Art

[0002] In recent years, my country's photovoltaic power generation industry has developed rapidly, with both installed capacity and power generation continuing to grow. Policy support and increased market demand are the main factors driving the development of the industry. With the increase in installed capacity, the maintenance and cleaning of photovoltaic panels have become increasingly prominent.

[0003] The photovoltaic panel cleaning robot market has gradually emerged with the development of my country's photovoltaic power generation industry. At present, there are already some photovoltaic panel cleaning robot products on the market, which can automatically or semi-automatically clean photovoltaic panels to improve cleaning efficiency and cleanliness. Among them, the wall-climbing cleaning robot working on the panel surface is a solution with low installation cost, high intelligent management and strong environmental adaptability. However, its supporting safety devices still have obvious shortcomings. For example, the safety device cannot follow the robot's lateral movement and stably fix the traction rope of the photovoltaic cleaning device, and cannot ensure that there will be no abnormal slipping or falling from high altitude during cleaning; at the same time, the installation conditions are more complicated and the construction is more difficult, which is not conducive to the safety and applicability of the photovoltaic cleaning device.

[0004] Therefore, it is necessary to design a snap-on rope fixing mechanism for a photovoltaic cleaning robot to solve the above problems. Summary of the invention

[0005] The purpose of the utility model is to provide a snap-on rope fixing mechanism for a photovoltaic cleaning robot to solve the above-mentioned problem.

[0006] In order to achieve the above purpose, the technical solution adopted by the utility model is as follows:

[0007] A snap-on rope-pulling fixing mechanism for a photovoltaic cleaning robot comprises a wheel-type snap-on and a rope-pulling device, wherein the wheel-type snap-on comprises two groups of drivable rollers which are symmetrical up and down, and the rope-pulling device comprises a snap-on portion for fixedly connecting to the upper end of the wheel-type snap-on, and a robot portion for fixedly connecting to the upper end of the photovoltaic cleaning robot, wherein the snap-on portion and the robot portion are connected via a safety rope; an electronic control device is mounted on the right side of the lower end of the wheel-type snap-on, a visual camera is arranged directly in front of the snap-on portion, and a power source is arranged to provide power for the snap-on rope-pulling fixing mechanism.

[0008] As a preferred technical solution: the wheel buckle includes an aluminum alloy frame, a driving roller, a compression spring, a gear group driving device and a guide wheel, wherein the aluminum alloy frame is the main body of the wheel buckle, and the inner side of the aluminum alloy frame is connected to the upper and lower groups of driving rollers through the compression spring, each group of driving rollers is fixed to the gear group driving device through a transmission device, and the guide wheel is installed in the middle position of the vertical part of the aluminum alloy frame.

[0009] As a further preferred technical solution: the gear group driving device is composed of a DC reduction motor with an encoder, a transmission gear and a power output shaft. The DC reduction motor with an encoder is located in the middle of the gear group driving device, its shaft is meshed with the power output shaft inside the gear group driving device, and its wiring part is located outside the gear group driving device.

[0010] As a preferred technical solution: the buckle part of the rope pulling device includes a rope pulling device main body bracket, a self-locking servo motor, a rope reel, a pressure sensing device, a cable organizer and a cable outlet, wherein the rope pulling device main body bracket is fixed to the upper center of the aluminum alloy frame, the self-locking servo motor is fixed to the lower side of the rope pulling device main body bracket, the rope reel is connected to the self-locking servo motor shaft and fixed to the upper side of the rope pulling device main body bracket, the pressure sensing device is fixed to the rear side of the upper end of the rope pulling device main body bracket, the cable organizer is fixed to the side of the pressure sensing device facing the rope reel, and the cable outlet is installed on the left side of the upper end of the rope pulling device main body bracket.

[0011] As a further preferred technical solution: the robot part of the rope-pulling device includes a 360° steering ring, a fixed base of the robot part of the rope-pulling device and a position target, wherein the 360° steering ring is fixed above the fixed base of the robot part of the rope-pulling device, and is connected to the rope drum by passing the safety rope through the wire outlet and the wire organizer; the position target is located at the top of the 360° steering ring.

[0012] As a preferred technical solution: the electronic control device consists of an electronic control device fixing base, a charging interface, a control line interface and a wireless communication antenna, wherein the electronic control device fixing base is mounted on the lower right end of the aluminum alloy frame by bolts, the charging interface is located at the right center of the electronic control device, the control line interface is located in the middle of the front side of the electronic control device, and the wireless communication antenna is located at the lower front end of the electronic control device.

[0013] As a preferred technical solution: the power source is a lithium battery, and a battery hanging compartment for loading the lithium battery is provided on the left side of the lower end of the wheel buckle.

[0014] As a further preferred technical solution: the battery hanging bin includes a battery hanging bin base and a battery telescopic buckle, the battery hanging bin base is mounted on the lower left end of the aluminum alloy frame through four corner screw holes, and the battery telescopic buckle is fixed to the upper end of the battery hanging bin base.

[0015] Compared with the prior art, the advantages of the utility model are:

[0016] (1) The buckle-type rope-traction fixing mechanism of the utility model solves the problem that the current wall-climbing photovoltaic cleaning robots generally lack effective safety measures. When there is no one on duty on site, it can effectively solve the problem that the robot rushes out of the edge of the panel and falls under special circumstances, and can stabilize the self-locking traction rope to prevent further falling;

[0017] (2) The buckle-type rope-pulling fixing mechanism of the utility model has been miniaturized and innovated, and can adapt to the application scenarios of photovoltaic panels of various specifications, and can be installed on the currently popular roof-type photovoltaic panels; the installation steps of the whole device are simple, and it can be automatically operated after installation;

[0018] (3) The electronic control device of the buckle-type rope-pulling fixing mechanism of the utility model can provide automatic control and wireless communication functions to realize unmanned automation of safety protection. At the same time, all the buckle-type rope-pulling fixing mechanisms on site can communicate with the on-site monitoring station efficiently through distributed wireless networking, realizing systematic management;

[0019] (4) The clip-on rope fixing mechanism and the wall-climbing photovoltaic cleaning robot of the utility model form an intelligent safety system. By using embedded development technology and intelligent scheduling and monitoring system, the new generation of photovoltaic cleaning robots can have sufficient safety guarantees while exerting their flexibility and adaptability. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 It is a three-dimensional schematic diagram of the connection between a snap-on rope-pulling fixing mechanism of a photovoltaic cleaning robot and the photovoltaic cleaning robot of the utility model;

[0021] Figure 2 This is a left view of the buckle part of the buckle type rope-pulling fixing mechanism of the photovoltaic cleaning robot of the utility model;

[0022] Figure 3 It is a three-dimensional schematic diagram of the wheel-type buckle of the utility model;

[0023] Figure 4 It is a cross-sectional perspective schematic diagram of the drive device with a gear set of the utility model;

[0024] Figure 5 It is a three-dimensional schematic diagram of the buckle part of the rope pulling device of the utility model;

[0025] Figure 6 This is a front view of the robot portion of the rope pulling device of the utility model;

[0026] Figure 7 This is a front view of the electronic control device of the utility model;

[0027] Figure 8 It is a three-dimensional schematic diagram of the battery hanging bin of the utility model.

[0028] In the figure: 1. wheel buckle; 11. aluminum alloy frame; 12. driving roller; 13. compression spring; 14. driving device with gear set; 141. DC reduction motor with encoder; 142. transmission gear; 143. power output shaft; 15. guide wheel; 2. rope pulling device; 21. buckle part of rope pulling device; 211. main bracket of rope pulling device; 212. self-locking servo motor; 213. rope drum; 214. pressure sensing device; 215. cable organizer; 216. Wire outlet; 22. Rope-pulling device robot part; 221. 360° steering ring; 222. Robot part fixed base; 223. Position target; 3. Electronic control device; 31. Electronic control device fixed base; 32. Charging interface; 33. Control line interface; 34. Wireless communication antenna; 4. Battery hanging compartment; 41. Battery hanging compartment base; 42. Battery telescopic buckle; 5. Visual camera; 6. Wall-climbing robot; 7. Safety rope. DETAILED DESCRIPTION

[0029] The utility model will be further described below in conjunction with the accompanying drawings.

[0030] Example:

[0031] See also Figure 1 and Figure 2A buckle-type rope-pulling fixing mechanism for a photovoltaic cleaning robot comprises a wheel buckle 1 and a rope-pulling device 2, wherein the wheel buckle 1 comprises two groups of drivable rollers symmetrically arranged in an upper and lower direction, the rope-pulling device 2 comprises a buckle part 21 for being fixedly connected to the upper end of the wheel buckle 1, and a robot part 22 for being fixedly connected to the upper end of the photovoltaic cleaning robot, the buckle part 21 and the robot part 22 are connected by a safety rope 7, and the safety rope 7 is a steel rope; an electronic control device 3 is mounted on the right side of the lower end of the wheel buckle 1, so that the MCU can automatically process the sensor The device information and the wireless communication information with the robot are automatically followed and displaced; a visual camera 5 is arranged in front of the buckle part 21 and on the top of the wheel buckle 1, which can be used to determine the lateral displacement position of the wall-climbing photovoltaic cleaning robot 6, so as to obtain a synchronous driving signal to drive the movement of the buckle; and a power supply is provided to provide power for the buckle-type rope-pulling fixing mechanism, and the power supply is preferably a large-capacity rechargeable lithium battery, which can provide a stable power supply to the equipment for a long time; such a simple and compact structure can reduce the construction difficulty while achieving the established safety performance;

[0032] In this embodiment, the structure of the wheel buckle is as follows: Figure 3 As shown, it includes an aluminum alloy frame 11, a driving roller 12, a compression spring 13, a gear group driving device 14 and a guide wheel 15, wherein the aluminum alloy frame 11 is in an "H" shape and is the main body of the wheel-type buckle 1. The inner side of the aluminum alloy frame 11 is connected to the upper and lower groups of driving rollers 12 through the compression spring 13. Each group of driving rollers 12 is fixed to the gear group driving device 14 through a transmission device to adapt to panels of different thicknesses. At the same time, the compression spring can also increase the static friction between the driving roller 12 and the panel surface, so that the force on the safety rope is more stable; the guide wheel 15 is installed in the middle position of the vertical part of the aluminum alloy frame 11, which helps to reduce the friction generated by the buckle during lateral movement, ensuring that the buckle moves and stops smoothly on the edge of the photovoltaic panel; in this embodiment, the structure of the gear group driving device 14 is as shown in FIG. Figure 4 As shown, it is composed of a DC reduction motor 141 with an encoder, a transmission gear 142 and a power output shaft 143. The DC reduction motor 141 with an encoder is located in the middle of the gear group drive device 14, and its shaft is meshed with the power output shaft 143 inside the gear group drive device 14, and its wiring part is located outside the gear group drive device 14; thereby, through the closed-loop control of the motor, the direction and speed of the driving roller 12 are controllable, and the transmission gear 142 can also stabilize the speed and increase the torque;

[0033] In this embodiment, the structure of the buckle part 21 of the rope pulling device is as follows: Figure 5As shown, it includes a rope pulling device main body bracket 211, a self-locking servo motor 212, a rope drum 213, a pressure sensing device 214, a cable organizer 215 and a cable outlet 216, wherein the rope pulling device main body bracket 211 is fixed to the upper center of the aluminum alloy frame 11 by bolts, the self-locking servo motor 212 is fixed to the lower side of the rope pulling device main body bracket 211 by bolts, the rope drum 213 is connected to the rotating shaft of the self-locking servo motor 212, and is fixed to the upper side of the rope pulling device main body bracket 211, the pressure sensing device 214 is fixed to the upper end rear side of the rope pulling device main body bracket 211 by bolts, the cable organizer 215 is fixed to the side of the pressure sensing device 214 facing the rope drum 213, and the cable outlet 216 is installed on the upper left side of the rope pulling device main body bracket 211; so as to automatically judge the operating status of the wall-climbing cleaning robot 6 and control the length of the safety rope by monitoring the tension of the safety rope 7;

[0034] The structure of the robot part 22 of the rope pulling device is as follows Figure 6 As shown, it includes a 360° turning ring 221, a robot part fixed base 222 of the rope pulling device and a position target 223, wherein the 360° turning ring 221 is fixed above the robot part fixed base 222 of the rope pulling device, and is connected to the rope drum 213 through the safety rope 7 passing through the wire outlet 216 and the wire organizer 215, so that the connection of the safety rope 7 will not be knotted due to the robot turning; the position target 223 is located at the top of the 360° turning ring 221 to ensure a stable connection, and can pull the robot to prevent it from falling under special circumstances. The robot part fixed base 222 of the rope pulling device is installed on the top of the wall-climbing photovoltaic cleaning robot 6 by bolts, and cooperates with the visual camera to obtain the position information of the wall-climbing cleaning robot so that the processor sends a synchronous drive signal;

[0035] The structure of the electronic control device 3 is as follows Figure 7 As shown, it is composed of an electronic control device fixing base 31, a charging interface 32, a control line interface 33 and a wireless communication antenna 34, wherein the electronic control device fixing base 31 is mounted on the lower right end of the aluminum alloy frame 11 by bolts, the charging interface 32 is located at the right center of the electronic control device 3, the control line interface 33 is located in the middle of the front side of the electronic control device 3, and the wireless communication antenna 34 is located at the lower front end of the electronic control device 3; the snap-on rope-pulling fixing mechanism of the photovoltaic cleaning robot requires the MCU to process information on site to drive the operation of the motor, and can also send and receive data with the on-site monitoring station in real time, building a distributed unmanned operation monitoring system with the on-site monitoring station as the center and each device running unmanned and automatically;

[0036] In this embodiment, the power source is a lithium battery, and a battery hanging compartment 4 for loading the lithium battery is provided on the left side of the lower end of the wheel buckle 1. The structure of the battery hanging compartment 4 is as follows: Figure 8 As shown, it includes a battery hanging compartment base 41 and a battery telescopic buckle 42. The battery hanging compartment base 41 is mounted on the left end of the lower side of the aluminum alloy frame 11 through four corner screw holes, and the battery telescopic buckle 42 is fixed to the upper end of the battery hanging compartment base 41, so that batteries of different shapes can be stably fixed on the device;

[0037] When using:

[0038] The photovoltaic cleaning robot can be any crawler-type or wheeled wall-climbing photovoltaic cleaning robot 6 on the market. It is necessary to build a platform on the top of the wall-climbing photovoltaic cleaning robot 6 to fix the robot part 22 of the rope-pulling device; at the same time, according to the width of the photovoltaic panel edge extending on the panel bracket and the thickness of the panel, the snap-on rope-pulling fixing mechanism of different sizes is reasonably selected and the compression spring 13 is pressed to make the device stably fixed on the edge of the photovoltaic panel; the safety rope 7 maintains a firm connection with the rope-pulling device 2. Before the MCU receives the running command, the entire system will be in a power-saving sleep state;

[0039] After the power-on command is issued through wireless communication, the visual camera 5 starts working, looking for the position target 223 trained in advance and feeding back the data to the MCU for calculation and processing. The MCU will determine the current horizontal relative position of the wall-climbing photovoltaic cleaning robot 6 on the board, and calculate the drive signal to send a work instruction to the drive roller 12 of the wheel buckle 1. Finally, through the automatic control of the device, the buckle part 21 of the buckle-type rope-pulling fixing mechanism and the robot part 22 of the rope-pulling device are located in the same vertical direction, and dynamic adjustment is always performed in the subsequent operating state to maintain this vertical synchronization. When vertical synchronization is achieved for the first time, the pressure sensing device 214 will start working to measure the tension value of the safety steel rope 7 and feed it back to the MCU for calculation and processing. The MCU will determine the tightness of the connection between the buckle part 21 of the rope-pulling device and the robot part 22 of the rope-pulling device, and calculate the drive signal to send a work instruction to the self-locking servo motor 212. Through continuous data feedback and drive control, the tension of the safety steel rope 7 is in a state where it can naturally maintain its straight shape without significant bending or relaxation. When the normal operation is achieved, it does not interfere with the normal operation of the wall-climbing photovoltaic cleaning robot 6, and when it falls, it can immediately self-lock the safety steel rope 7 to ensure safety. During the entire normal operation, the buckle-type rope-pulling fixing mechanism of the photovoltaic cleaning robot has always maintained data communication through the wireless communication antenna 34, which can be used as an electronic target to provide GPS positioning information for unmanned dispatching, and can also be used as a working node of the distributed system to feedback the monitored tension position and other information to the on-site monitoring station, and receive the operation instructions of the monitoring station;

[0040] In the event of a device failure or malfunction of the wall-climbing photovoltaic cleaning robot, and a falling state occurs, the snap-on rope-pulling fixing mechanism of the photovoltaic cleaning robot will implement another automatic control strategy. When a falling state occurs, the pressure sensing device 214 will first detect the momentary abnormality of the tension data. After the MCU determines the abnormality of the command, it will immediately issue a self-locking command for the self-locking servo motor 213 and a command to stop the operation of the drive roller 13. The entire H-shaped aluminum alloy frame 11 will be firmly stuck on the edge of the photovoltaic panel, and the wall-climbing photovoltaic cleaning robot 6 will be fixed in mid-air by the safety steel rope 7 in the rope drum 213. After that, the MCU will send a fault signal to the on-site monitoring station. After the staff notices it, they can immediately determine the location of the accident and deal with the accident.

[0041] This embodiment is used to solve the problem that the wall-climbing photovoltaic cleaning robot does not have a safety protection device that can adapt to its working characteristics. It realizes the systematic management of the robot when it is working, ensures that the photovoltaic cleaning robot can give full play to its flexibility and adaptability, and provides a stable safety protection measure for it;

[0042] Finally, it should be noted that the above embodiments are only used to illustrate the technical solution of the utility model rather than to limit it. Although the utility model has been described in detail with reference to the preferred embodiments, ordinary technicians in this field should understand that they can still modify or replace the technical solution of the utility model with equivalents, and these modifications or equivalent replacements cannot cause the modified technical solution to deviate from the spirit and scope of the technical solution of the utility model.

Claims

1. A snap-on rope fixing mechanism for a photovoltaic cleaning robot, characterized in that: The invention comprises a wheel buckle (1) and a rope pulling device (2), wherein the wheel buckle (1) comprises two groups of drivable rollers which are symmetrical in upper and lower directions, and the rope pulling device (2) comprises a buckle part (21) for being fixedly connected to the upper end of the wheel buckle (1), and a robot part (22) for being fixedly connected to the upper end of a photovoltaic cleaning robot, wherein the buckle part (21) and the robot part (22) are connected via a safety rope (7); an electronic control device (3) is mounted on the right side of the lower end of the wheel buckle (1), a visual camera (5) is arranged directly in front of the buckle part (21), and a power source is arranged to provide power for the buckle-type rope pulling fixing mechanism.

2. The snap-on rope fixing mechanism of a photovoltaic cleaning robot according to claim 1, characterized in that: The wheel buckle (1) comprises an aluminum alloy frame (11), a driving roller (12), a compression spring (13), a gear group driving device (14) and a guide wheel (15), wherein the aluminum alloy frame (11) is the main body of the wheel buckle (1), the inner side of the aluminum alloy frame (11) is connected to the upper and lower groups of driving rollers (12) through the compression spring (13), each group of driving rollers (12) is fixed to the gear group driving device (14) through a transmission device, and the guide wheel (15) is installed in the middle position of the vertical part of the aluminum alloy frame (11).

3. The buckle-type rope-pulling fixing mechanism of a photovoltaic cleaning robot according to claim 2 is characterized in that: The gear group drive device (14) is composed of a DC reduction motor with an encoder (141), a transmission gear (142) and a power output shaft (143). The DC reduction motor with an encoder (141) is located in the middle of the gear group drive device (14), and its shaft is meshed with the power output shaft (143) inside the gear group drive device (14), and its wiring part is located outside the gear group drive device (14).

4. The buckle-type rope-pulling fixing mechanism of a photovoltaic cleaning robot according to claim 2 is characterized in that: The buckle part (21) of the rope pulling device comprises a rope pulling device main body bracket (211), a self-locking servo motor (212), a rope drum (213), a pressure sensing device (214), a wire organizer (215) and a wire outlet (216), wherein the rope pulling device main body bracket (211) is fixed to the center of the upper side of the aluminum alloy frame (11), the self-locking servo motor (212) is fixed to the lower side of the rope pulling device main body bracket (211), the rope drum (213) is connected to the rotating shaft of the self-locking servo motor (212) and is fixed to the upper side of the rope pulling device main body bracket (211), the pressure sensing device (214) is fixed to the rear side of the upper end of the rope pulling device main body bracket (211), the wire organizer (215) is fixed to the side of the pressure sensing device (214) facing the rope drum (213), and the wire outlet (216) is installed on the left side of the upper end of the rope pulling device main body bracket (211).

5. The buckle-type rope-pulling fixing mechanism of a photovoltaic cleaning robot according to claim 4 is characterized in that: The robot part (22) of the rope-pulling device comprises a 360° turning ring (221), a fixed base (222) of the robot part of the rope-pulling device, and a position target (223), wherein the 360° turning ring (221) is fixed above the fixed base (222) of the robot part of the rope-pulling device, and is connected to the rope drum (213) through the safety rope (7) passing through the wire outlet (216) and the wire organizer (215); and the position target (223) is located at the top of the 360° turning ring (221).

6. The buckle-type rope-pulling fixing mechanism of a photovoltaic cleaning robot according to claim 2 is characterized in that: The electronic control device (3) is composed of an electronic control device fixing base (31), a charging interface (32), a control line interface (33) and a wireless communication antenna (34), wherein the electronic control device fixing base (31) is mounted on the lower right end of the aluminum alloy frame (11) by bolts, the charging interface (32) is located at the center of the right side of the electronic control device (3), the control line interface (33) is located in the middle of the front side of the electronic control device (3), and the wireless communication antenna (34) is located at the lower end of the front side of the electronic control device (3).

7. The buckle-type rope-pulling fixing mechanism of a photovoltaic cleaning robot according to claim 2 is characterized in that: The power source is a lithium battery, and a battery hanging compartment (4) for loading the lithium battery is provided on the left side of the lower end of the wheel buckle (1).

8. The buckle-type rope-pulling fixing mechanism of a photovoltaic cleaning robot according to claim 7 is characterized in that: The battery hanging compartment (4) comprises a battery hanging compartment base (41) and a battery telescopic buckle (42); the battery hanging compartment base (41) is mounted on the lower left end of the aluminum alloy frame (11) through four-corner screw holes; and the battery telescopic buckle (42) is fixed to the upper end of the battery hanging compartment base (41).

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