Crawler-type photovoltaic cleaning robot

Abstract

The crawler-type photovoltaic cleaning robot comprises a body and a crawler-type walking mechanism, back plates are arranged on the two sides of the body, the crawler-type walking mechanism is provided with an inner side space, a rebound device is arranged in the inner side space, and the rebound device comprises a main shaft fixed to the back plates; the two connecting rods are arranged in a crossed mode, and the crossed position of the two connecting rods is rotatably connected to the main shaft; the fixed shaft is fixed on the back plate and is positioned above the main shaft; one end of each elastic piece is connected to the fixing shaft, and the other end of each elastic piece is connected with the upper end of the corresponding connecting rod; the two auxiliary wheels are installed at the lower ends of the corresponding connecting rods correspondingly and at least partially abut against the crawler belt. The rebound device of the crawler-type photovoltaic cleaning robot can drive the photovoltaic cleaning robot to smoothly cross obstacles, and is simple in structure and convenient to disassemble and assemble.

Description

Technical Field

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

[0002] When cleaning photovoltaic modules, photovoltaic cleaning robots may encounter joints or uneven areas of photovoltaic modules, which are difficult for conventional cleaning robots to pass. In order to enable cleaning robots to overcome obstacles, some types of photovoltaic cleaning robots on the market currently use tank-type stepped track structures, which are relatively complex and increase costs; other robots do not have obstacle-crossing structures, which increase the friction inside the robot and increase power consumption. When encountering uneven surfaces during obstacle crossing, they will become stuck and jerky. In severe cases, they may forcefully overcome obstacles, causing slippage and crushing of modules.

[0003] Therefore, it is necessary to provide a new crawler type photovoltaic cleaning robot to solve the above problems. Utility Model Content

[0004] The utility model aims to provide a crawler-type photovoltaic cleaning robot with a rebound device, which can smoothly cross obstacles, and the rebound device has a simple structure and is easy to disassemble and assemble.

[0005] In order to achieve the above purpose, the utility model adopts the following technical solutions:

[0006] A crawler-type photovoltaic cleaning robot comprises a body and a crawler-type walking mechanism, wherein back plates are arranged on both sides of the body, and two groups of crawler-type walking mechanisms are arranged on one side of the back plates respectively; the crawler-type walking mechanism comprises a crawler wheel, a crawler engaged with the outer periphery of the crawler wheel, and a rebound device, wherein the crawler and the crawler wheel cooperate to form an inner space, and the rebound device is arranged in the inner space of the crawler-type walking mechanism,

[0007] The rebound device comprises:

[0008] A main shaft, fixed to the back plate;

[0009] Two connecting rods are provided and arranged crosswise, and the intersection of the two connecting rods is rotatably connected to the main shaft;

[0010] A fixed shaft, fixed to the back plate and located above the main shaft;

[0011] Elastic members, one end of each of the two elastic members is connected to the fixed shaft, and the other end is connected to the upper end of the corresponding connecting rod;

[0012] Auxiliary wheels, the two auxiliary wheels are respectively installed at the lower ends of the corresponding connecting rods and at least partially abut against the crawler track.

[0013] As a further improved technical solution of the utility model, the connecting rod includes a first rod portion, a second rod portion and a middle shaft portion connecting the first rod portion and the second rod portion, the first rod portion is connected to the elastic member, the second rod portion is connected to the auxiliary wheel, and the middle shaft portion is connected to the main shaft;

[0014] The first rod portions of the two connecting rods are in an arc shape with an opening facing upward, and the second rod portions of the two connecting rods are in an arc shape with an opening facing downward.

[0015] As a further improved technical solution of the utility model, the two ends of the elastic member have equal heights.

[0016] As a further improved technical solution of the utility model, it also includes a fixed pillar, the connecting rod and the fixed shaft are respectively provided with the fixed pillar, the fixed pillar has a connecting hole, and the two ends of the elastic member are respectively connected to the connecting holes of the connecting rod and the fixed pillar on the fixed shaft.

[0017] As a further improved technical solution of the utility model, the elastic member includes a spring coil portion and a first hook portion and a second hook portion arranged at both ends of the spring coil portion, the first hook portion is hooked on the connecting hole of the fixed support on the connecting rod, and the second hook portion is hooked on the connecting hole of the fixed support on the fixed shaft.

[0018] As a further improved technical solution of the utility model, the fixed shaft is provided with two fixed pillars, which are symmetrically arranged on both radial sides of the fixed shaft and respectively close to the upper ends of the two connecting rods.

[0019] As a further improved technical solution of the utility model, the connecting rod is provided with a first mounting portion, and the fixed shaft is provided with a second mounting portion, and the first mounting portion and the second mounting portion are respectively used for mounting the fixed support.

[0020] As a further improved technical solution of the utility model, the middle shaft portion is provided with a first through hole for rotatably connecting the connecting rod to the main shaft;

[0021] The second rod portion is provided with a second through hole for mounting the auxiliary wheel.

[0022] As a further improved technical solution of the utility model, the auxiliary wheel comprises a wheel body and a shaft body, the shaft body is installed in the wheel body, and the wheel body can rotate around the shaft body;

[0023] The shaft body includes a first shaft portion and a second shaft portion, the first shaft portion is located in the wheel body, and the second shaft portion is installed in the second through hole.

[0024] As a further improved technical solution of the utility model, the elastic member is a tension spring, and the initial length of the elastic member is greater than the length in the natural state, driving the auxiliary wheel to press the track downward.

[0025] Compared with the prior art, the crawler-type photovoltaic cleaning robot of the utility model has the following beneficial effects: a rebound device is arranged in the crawler-type walking mechanism on both sides of the crawler-type photovoltaic cleaning robot. When the crawler-type photovoltaic cleaning robot encounters an obstacle during walking, the auxiliary wheels of the rebound device will adaptively bounce up to avoid the crawler-type photovoltaic cleaning robot from jamming, slipping, etc. The rebound device is provided with a main shaft, connecting rod, fixed shaft, elastic member and auxiliary wheel, etc. The main shaft and the fixed shaft are fixed to the back plate of the robot body, the two connecting rods are cross-arranged and can rotate around the main shaft, the upper end of the connecting rod is provided with an elastic member connected to the fixed shaft, and the lower end of the connecting rod is provided with an auxiliary wheel; when encountering an obstacle, each auxiliary wheel can rise separately, drive the connecting rod to rotate, thereby pulling the elastic member, and utilizing the elastic force of the elastic member, when crossing the obstacle, the elastic member retracts and pulls the connecting rod, and the auxiliary wheel returns to its position, completing the obstacle crossing action. The main axis and fixed axis of the rebound device of the crawler photovoltaic cleaning robot are fixed to the back plate of the main body. The rebound device can be disassembled as a whole by simply removing the back plate. It has a simple structure, can be quickly installed and disassembled, is easy and quick to maintain, and has a good obstacle crossing effect. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] Figure 1 It is a schematic diagram of the three-dimensional structure of a rebound device according to a specific embodiment of the utility model;

[0027] Figure 2 This is a schematic diagram of the exploded structure of a rebound device according to a specific embodiment of the utility model;

[0028] Figure 3 This is a structural schematic diagram of a crawler-type photovoltaic cleaning robot according to a specific embodiment of the utility model;

[0029] Figure 4 This is a schematic structural diagram of a connecting rod and a fixed support column in a specific embodiment of the utility model;

[0030] Figure 5 This is a schematic structural diagram of a fixed shaft and a fixed support column in a specific embodiment of the utility model;

[0031] Figure 6 This is a schematic structural diagram of an elastic member in a specific embodiment of the utility model;

[0032] Figure 7 The figure is a schematic structural diagram of an auxiliary wheel according to a specific embodiment of the utility model. DETAILED DESCRIPTION

[0033] The exemplary embodiments of the present invention will be described in detail below in conjunction with the accompanying drawings. If there are several embodiments, the features of these embodiments can be combined with each other without conflict. When the description refers to the drawings, unless otherwise specified, the same numbers in different drawings represent the same or similar elements. The contents described in the following exemplary embodiments do not represent all embodiments consistent with the present invention; on the contrary, they are merely examples of devices, products and / or methods that are consistent with some aspects of the present invention and are recorded in the claims of the present invention.

[0034] The terms used in the present invention are only for the purpose of describing specific embodiments, and are not intended to limit the scope of protection of the present invention. The singular forms "a", "said" or "the" used in the specification and claims of the present invention are also intended to include plural forms, unless the context clearly indicates other meanings.

[0035] It should be understood that the words used in the specification and claims of the present invention, such as "first", "second" and similar words, do not indicate any order, quantity or importance, but are only used to distinguish the names of features. Similarly, words such as "one" or "an" do not indicate a quantitative limitation, but indicate the existence of at least one. Unless otherwise specified, words such as "front", "rear", "upper", "lower" and similar words appearing in the present invention are only for the convenience of description and are not limited to a specific position or a spatial orientation. Words such as "include" or "comprise" are an open-ended expression, meaning that the elements appearing before "include" or "comprise" include the elements appearing after "include" or "comprise" and their equivalents, which does not exclude that the elements appearing before "include" or "comprise" may also include other elements. If "several" appears in the present invention, it means two or more.

[0036] See also Figures 1 to 7 As shown, this embodiment discloses a crawler-type photovoltaic cleaning robot, including a main body and a crawler-type walking mechanism, back plates 100 are arranged on both sides of the main body, and two sets of crawler-type walking mechanisms are arranged on one side of the back plates 100 respectively; the crawler-type walking mechanism includes a track wheel 300, a track 200 meshed with the outer periphery of the track wheel 300, and a rebound device, the track 200 and the track wheel 300 cooperate to form an inner space, and the rebound device is arranged in the inner space of the crawler-type walking mechanism, which can drive the cleaning robot to cross obstacles.

[0037] See also Figures 1 to 3As shown, the rebound device includes a main shaft 1, a connecting rod 2, a fixed shaft 3, an elastic member 4 and an auxiliary wheel 5. The main shaft 1 and the fixed shaft 3 are fixed to the back plate 100 of the photovoltaic cleaning robot, and the fixed shaft 3 is located above the main shaft 1; two connecting rods 2 are provided and cross-arranged, and the intersection of the two connecting rods 2 is installed on the main shaft 1, and the two connecting rods 2 can rotate around the main shaft 1; one end of the two elastic members 4 is connected to the fixed shaft 3, and the other end is respectively connected to the upper end of the corresponding connecting rod 2; the two auxiliary wheels 5 are respectively installed at the lower end of the corresponding connecting rod 2 and at least partially abut against the track 200.

[0038] See also Figures 1 to 4 As shown, the connecting rod 2 includes a first rod portion 21, a second rod portion 22, and a middle shaft portion 23 connecting the first rod portion 21 and the second rod portion 22. The first rod portion 21 is connected to the elastic member 4, the second rod portion 22 is connected to the auxiliary wheel 5, and the middle shaft portion 23 is connected to the main shaft 1. The connecting rod 2 connects the various parts of the rebound device. The auxiliary wheel 5 at the lower end of the connecting rod 2 and the elastic member 4 at the upper end of the connecting rod 2 are mutually restrained and matched, so that the rebound device has the ability to cross obstacles and can quickly fall back after crossing the obstacle. Further, the first rod portions 21 of the two connecting rods 2 are in an arc shape with an opening upward, and the second rod portions 22 of the two connecting rods 2 are in an arc shape with an opening downward, so that the force on the elastic member 4 connected to the first rod portion 21 and the force on the auxiliary wheel 5 connected to the second rod portion 22 can be more effectively transmitted to each other, and at the same time, the stress generated by the elastic member 4 and the auxiliary wheel 5 on the connecting rod 2 can be reduced, so that the connecting rod 2 has a higher strength in the rebound device. The middle shaft portion 23 is provided with a first through hole 231, which is used to rotatably connect the connecting rod 2 to the main shaft 1. The main shaft 1 is provided with two first through holes 231 of the middle shaft portion 23 of the connecting rod 2; further, a stopper can be provided on both sides of the two first through holes 231 away from each other to limit the connecting rod 2 in the axial direction, so that it can only rotate around the main shaft 1, avoiding unnecessary displacement and preventing it from falling off. The second rod portion 22 is provided with a second through hole 221, which is used to install the auxiliary wheel 5. The auxiliary wheel 5 can rotate axially around the second through hole 221 to cooperate with the crawler 200 to walk.

[0039] See also Figures 1 to 3 , Figure 7As shown, the auxiliary wheel 5 includes a wheel body 51 and a shaft body 52, and the shaft body 52 is installed in the wheel body 51; the shaft body 52 includes a first shaft portion 521 and a second shaft portion 522, the first shaft portion 521 is located in the wheel body 51, and the second shaft portion 522 is installed in the second through hole 221 on the second rod portion 22 of the connecting rod 2. Further, the shaft body 52 passes through the second through hole 221 and is fixed, and the wheel body 51 rotates around the shaft body 52, and stoppers can be set at both ends of the first shaft portion 521 to prevent the wheel body 51 from falling off from the shaft body 52; in another embodiment, the shaft body 52 passes through the second through hole 221 and can rotate around the axis, the wheel body 51 and the shaft body 52 are fixed and can rotate synchronously, and stoppers can be set at both ends of the second through hole 221 to prevent the shaft body 52 from falling off from the second through hole 221.

[0040] See also Figure 1 , Figure 2 , Figures 4 to 6 As shown, the rebound device of this embodiment also includes a fixed pillar 6, and the connecting rod 2 and the fixed shaft 3 are respectively fixed with the fixed pillar 6 to facilitate the connection of the elastic member 4. The two ends of the elastic member 4 are respectively connected to the fixed pillar 6 on the connecting rod 2 and the fixed pillar 6 on the fixed shaft 3. Further, the connecting rod 2 is provided with a first mounting portion 24, and the fixed shaft 3 is provided with a second mounting portion 31. The first mounting portion 24 and the second mounting portion 31 are respectively used to mount the fixed pillar 6. The fixed pillar 6 has a connecting hole 61. The connecting hole 61 of the fixed pillar 6 fixed on the connecting rod 2 is located at one end away from the connecting rod 2, and the connecting hole 61 of the fixed pillar 6 fixed on the fixed shaft 3 is located at one end away from the fixed shaft 3. In this embodiment, the elastic member 4 adopts a tension spring. The elastic member 4 includes a spring coil portion 41 and a first hook portion 42 and a second hook portion 43 arranged at both ends of the spring coil portion 41. The first hook portion 42 is hooked on the connecting hole 61 of the fixed pillar 6 on the connecting rod 2, and the second hook portion 43 is hooked on the connecting hole 61 of the fixed pillar 6 on the fixed shaft 3. In some embodiments, the fixed shaft 3 is provided with two fixed pillars 6, and the two fixed pillars 6 are symmetrically arranged on both radial sides of the fixed shaft 3 and respectively close to the upper ends of the two connecting rods 2, and the elastic member 4 connects the fixed pillar 6 on the connecting rod 2 and the fixed pillar 6 on the fixed shaft 3 close thereto; in other embodiments, the fixed shaft 3 can also be provided with a fixed pillar 6, and the distance between the fixed pillar 6 and the upper ends of the two connecting rods 2 is equal, and the two elastic members 4 respectively connect the fixed pillar 6 on the two connecting rods 2 and the fixed pillar 6 on the fixed shaft 3.

[0041] See also Figure 1 and Figure 3As shown, in the rebound device of this embodiment, the heights of both ends of the elastic member 4 are equal, and when the elastic member 4 is subjected to force, it can generate a good reaction force on the connecting rod 2. Further, the elastic member 4 is a tension spring, and the initial length of the elastic member 4 set in the rebound device is greater than its length in the natural state, so that when the crawler 200 walks on the plane, the elastic member 4 can drive the auxiliary wheel 5 to press the crawler 200 downward.

[0042] See also Figure 3 As shown, when installing the rebound device of this embodiment, first assemble the main shaft 1, connecting rod 2 and auxiliary wheel 5, then fix the main shaft 1 and fixed shaft 3 to the back plate 100 of the body, and finally connect the elastic member 4 to the upper end of the connecting rod 2 and the fixed shaft 3. When disassembling, just remove the elastic member 4 and remove the back plate 100, which has strong practicality. Since the elastic member 4 is initially in a stretched state, it is tightened toward the middle fixed shaft 3; taking the auxiliary wheel 5 on the left side of the figure as an example, when encountering an uneven road surface or obstacle, the auxiliary wheel 5 is forced to lift upward, and the connecting rod 2 rotates clockwise around the main shaft 1, driving the end of the connecting rod 2 connected to the elastic member 4 to move downward, and the elastic member 4 is stretched and deformed by force. When crossing the uneven road surface or obstacle, the rebound force generated by the deformation of the elastic member 4 drives the connecting rod 2 to rotate counterclockwise around the main shaft 1, and the auxiliary wheel 5 returns to its original position; similarly, the auxiliary wheel on the right side is also applicable.

[0043] In summary, compared with the prior art, the crawler-type photovoltaic cleaning robot of the utility model has the following advantages: a rebound device is arranged in the crawler-type walking mechanism on both sides of the crawler-type photovoltaic cleaning robot. When the crawler-type photovoltaic cleaning robot encounters an obstacle during walking, the auxiliary wheel 5 of the rebound device will adaptively bounce up to avoid the crawler-type photovoltaic cleaning robot from jamming, slipping, etc. The rebound device is provided with a main shaft 1, a connecting rod 2, a fixed shaft 3, an elastic member 4 and an auxiliary wheel 5. The main shaft 1 and the fixed shaft 3 are both fixed to the back plate 100 of the robot body, and the two connecting rods 2 are cross-arranged and can rotate around the main shaft 1. The upper end of the connecting rod 2 is provided with an elastic member 4 connected to the fixed shaft 3, and the lower end of the connecting rod 2 is provided with an auxiliary wheel 5; when encountering an obstacle, each auxiliary wheel 5 can rise separately, drive the connecting rod 2 to rotate, thereby pulling the elastic member 4, and using the elastic force of the elastic member 4, when crossing the obstacle, the elastic member 4 retracts to pull the connecting rod 2, and the auxiliary wheel 5 returns to its position, completing the obstacle crossing action. The main shaft 1 and the fixed shaft 3 of the rebound device of the crawler photovoltaic cleaning robot are fixed to the back plate 100 of the main body. The rebound device can be disassembled as a whole by simply removing the back plate 100. It has a simple structure, can be quickly installed and disassembled, is easy and quick to maintain, and has a good obstacle crossing effect.

[0044] The above implementation modes are only used to illustrate the present invention and are not intended to limit the technical solutions described in the present invention. The understanding of this specification should be based on the technical personnel in the relevant technical field. Although this specification has described the present invention in detail with reference to the above embodiments, ordinary technical personnel in the field should understand that the technical personnel in the relevant technical field can still modify or make equivalent substitutions to the present invention, and all technical solutions and improvements thereof that do not depart from the spirit and scope of the present invention should be included in the scope of the claims of the present invention.

Claims

1. A crawler-type photovoltaic cleaning robot, characterized in that: The invention comprises a body and a crawler-type walking mechanism, wherein back plates (100) are arranged on both sides of the body, and two groups of crawler-type walking mechanisms are respectively arranged on one side of the back plates (100); the crawler-type walking mechanism comprises a crawler wheel (300), a crawler belt (200) meshed with the outer periphery of the crawler wheel (300), and a rebound device, the crawler belt (200) cooperates with the crawler wheel (300) to form an inner space, and the rebound device is arranged in the inner space of the crawler-type walking mechanism; The rebound device comprises: A main shaft (1) fixed to the back plate (100); Two connecting rods (2) are provided and arranged crosswise, and the intersection of the two connecting rods (2) is rotatably connected to the main shaft (1); A fixed shaft (3), fixed to the back plate (100) and located above the main shaft (1); Elastic members (4), one end of each of the two elastic members (4) is connected to the fixed shaft (3), and the other end is respectively connected to the upper end of the corresponding connecting rod (2); Auxiliary wheels (5), the two auxiliary wheels (5) are respectively installed on the lower ends of the corresponding connecting rods (2) and at least partially abut against the crawler (200).

2. The crawler-type photovoltaic cleaning robot according to claim 1, characterized in that: The connecting rod (2) comprises a first rod portion (21), a second rod portion (22), and a middle shaft portion (23) connecting the first rod portion (21) and the second rod portion (22), the first rod portion (21) being connected to the elastic member (4), the second rod portion (22) being connected to the auxiliary wheel (5), and the middle shaft portion (23) being connected to the main shaft (1); The first rod portions (21) of the two connecting rods (2) are in an arc shape with an opening facing upward, and the second rod portions (22) of the two connecting rods (2) are in an arc shape with an opening facing downward.

3. The crawler-type photovoltaic cleaning robot according to claim 1, characterized in that: The two ends of the elastic member (4) have the same height.

4. The crawler-type photovoltaic cleaning robot according to claim 1, characterized in that: It also includes a fixed support (6), the connecting rod (2) and the fixed shaft (3) are respectively provided with the fixed support (6), the fixed support (6) has a connecting hole (61), and the two ends of the elastic member (4) are respectively connected to the connecting rod (2) and the connecting hole (61) of the fixed support (6) on the fixed shaft (3).

5. The crawler-type photovoltaic cleaning robot according to claim 4, characterized in that: The elastic member (4) comprises a spring coil portion (41) and a first hook portion (42) and a second hook portion (43) arranged at two ends of the spring coil portion (41); the first hook portion (42) is hooked in a connection hole (61) of the fixed support (6) on the connecting rod (2); and the second hook portion (43) is hooked in a connection hole (61) of the fixed support (6) on the fixed shaft (3).

6. The crawler-type photovoltaic cleaning robot according to claim 4, characterized in that: The fixed shaft (3) is provided with two fixed struts (6), which are symmetrically arranged on both sides of the fixed shaft (3) in the radial direction and are respectively close to the upper ends of the two connecting rods (2).

7. The crawler-type photovoltaic cleaning robot according to claim 4, characterized in that: The connecting rod (2) is provided with a first mounting portion (24), and the fixed shaft (3) is provided with a second mounting portion (31), wherein the first mounting portion (24) and the second mounting portion (31) are respectively used for mounting the fixed support pillar (6).

8. The crawler-type photovoltaic cleaning robot according to claim 2, characterized in that: The middle shaft portion (23) is provided with a first through hole (231) for rotatably connecting the connecting rod (2) to the main shaft (1); The second rod portion (22) is provided with a second through hole (221) for mounting the auxiliary wheel (5).

9. The crawler-type photovoltaic cleaning robot according to claim 8, characterized in that: The auxiliary wheel (5) comprises a wheel body (51) and a shaft body (52), wherein the shaft body (52) is installed in the wheel body (51), and the wheel body (51) can rotate around the shaft body (52); The shaft body (52) comprises a first shaft portion (521) and a second shaft portion (522), wherein the first shaft portion (521) is located in the wheel body (51), and the second shaft portion (522) is installed in the second through hole (221).

10. The crawler-type photovoltaic cleaning robot according to claim 1, characterized in that: The elastic member (4) is a tension spring, and the initial length of the elastic member (4) is greater than the length in a natural state, driving the auxiliary wheel (5) to press the crawler (200) downward.

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