Multi-shaft transmission type general span cleaning device

Abstract

The utility model relates to a multi-shaft transmission type universal span cleaning device which changes the current situation that cleaning work is interrupted due to the fact that a photovoltaic panel cleaning robot gets stuck when facing cross platforms. The technical key points of the utility model are as follows: a plurality of groups of auxiliary wheels are respectively arranged on the two sides of the whole structure, and each auxiliary wheel has a movable allowance, so that the auxiliary wheels can conveniently reflect and allow elastic deformation in time in the obstacle crossing process; after obstacle crossing is finished, timely resetting can be achieved, and follow-up cleaning is not affected; cleaning power and advancing power are provided by the two motors respectively, so that the power is more sufficient; the cleaning mechanism and the driving mechanism can be installed in a modularized mode according to actual requirements, and adaptability is higher.

Description

Technical Field

[0001] The utility model relates to the technical field of photovoltaic cleaning, in particular to a multi-axis transmission type universal span cleaning device. Background Art

[0002] With the intensification of the global energy crisis and the increasingly serious environmental pollution problem, photovoltaic power generation, as a clean and renewable energy source, has great market prospects.

[0003] During the operation of the photovoltaic power generation system, a large amount of pollutants will accumulate on the surface of the photovoltaic panels, causing a decrease in photovoltaic power generation efficiency and damage to the photovoltaic panels. Therefore, it is necessary to regularly use cleaning equipment to clean the pollutants from the photovoltaic panels.

[0004] Most of the current photovoltaic panel cleaning equipment is only suitable for photovoltaic panels on the same platform. When there is a height difference or obstacle between the photovoltaic panel arrays, the equipment will get stuck and stop working. Utility Model Content

[0005] In view of the shortcomings of the above-mentioned existing production technology, the applicant provides a multi-axis transmission universal span cleaning device with a rational structure, which utilizes multiple transmission shafts and independently applies power on both sides to provide more balanced forward power and obstacle-crossing power; and provides elastic auxiliary wheels to allow path deviations, thereby ensuring smooth cleaning work.

[0006] The technical solution adopted by the utility model is as follows:

[0007] A multi-axis transmission universal span cleaning device comprises a driving mechanism and a cleaning mechanism which are independent of each other. The driving mechanism and the cleaning mechanism are arranged alternately. The driving mechanisms at both ends are equipped with limit wheel assemblies.

[0008] The limiting wheel assembly includes a swing arm that swings back and forth along an arc path, and a torsion spring is arranged at the swing reference point of the swing arm. The torsion spring is used to limit the initial position of the swing arm and pull the swing arm to reset; a section of the swing arm that rotates away from the swing reference point is connected to an auxiliary wheel, and the auxiliary wheel abuts against the edge of the photovoltaic panel to be cleaned.

[0009] As a further improvement of the above technical solution:

[0010] In the initial state, the auxiliary wheel abuts against the edge of the photovoltaic panel, and the swing arm has movement margin in two directions, toward the edge and away from the edge.

[0011] The swing arm is an arc-shaped arm, and the inner concave surface of the swing arm faces the edge of the photovoltaic panel.

[0012] The swing arms are divided into several groups, each group of swing arms is equipped with a mounting seat, and the mounting seats are symmetrically arranged on both sides of the forward direction of the cleaning device.

[0013] Swing arms are symmetrically arranged on both sides of the mounting seat, and the clamping force directions of the swing arms on both sides are opposite.

[0014] A wheel axle is connected between the swing arm and the mounting seat, a torsion spring is sleeved on the wheel axle, and the torsion spring limits the relative position relationship between the swing arm and the mounting seat.

[0015] Both sides of the mounting seat extend to form limiting edges, and the hinged end of the swing arm is embedded in the limiting edges.

[0016] The driving mechanism comprises a driving motor, an output end of which is provided with a bevel gear pair, the bevel gear pair is connected with a belt transmission structure, the belt transmission structure drives a plurality of transmission shafts, the transmission shafts are coaxially fixed with track wheels, and the track wheels are tensioned with track belts.

[0017] There are multiple transmission shafts, and the transmission shafts are distributed along the inner wall contour of the driving mechanism.

[0018] The cleaning mechanism comprises a cleaning motor and a roller brush driven by the cleaning motor; the cleaning mechanism and the driving mechanism are arranged at intervals to form a detachable module.

[0019] The beneficial effects of the utility model are as follows:

[0020] The utility model has a compact and reasonable structure and is easy to operate. Compared with conventional technologies, the greatest advantage of the utility model is that it has the functions of plane obstacle crossing and side obstacle crossing.

[0021] Obstacles may appear on the plane of the photovoltaic panel or along the edge of the photovoltaic panel. The function of the track is to overcome the obstacles on the plane, and the function of the auxiliary wheels is to overcome the obstacles along the edge.

[0022] In the utility model, the crawler is not an ordinary long rectangular strip, but the length of one rotation of the crawler is stretched as much as possible, and a longer crawler space is reserved between the two transmission shafts on the cleaning surface to reduce the rigid impact between the bottom structure and the obstacles on the photovoltaic panel plane. At the same time, since there can be more than one driving mechanism in the utility model, and the driving motor and the cleaning motor are two independent power sources, it can ensure sufficient power and uniform force, and each crawler has enough kinetic energy to cross obstacles.

[0023] Conventional auxiliary wheels usually directly contact the edge of the photovoltaic panel and use springs to tighten it. The axis of this spring points to the cleaning equipment, which is easy to deviate and twist in the axial direction, affecting the tightening force; and this axial spring does not necessarily have uniform force on each section. After long-term use, the elastic deformation capacity of each spring varies greatly, making it difficult to achieve effective limit on both sides.

[0024] The advantage of the utility model is that a set of auxiliary wheels has two symmetrically arranged swing arms and auxiliary wheels, and the initial position between the swing arm and the mounting seat is limited by a torsion spring. Under the premise that the relative position of the mounting seat is fixed, the swing arm connected to the torsion spring can swing forward or backward. Compared with the auxiliary wheel connected to the long spring, which may cause axial bending due to its own weight, the torsion spring only limits the angle of the hinge point between the swing arm and the mounting seat. At the same time, the contact area between the torsion spring and the component is large, and the structure is relatively more stable. Under the premise that the initial position of the swing arm is more stable, the relative position of the auxiliary wheel is also more stable, and it can maintain a reliable contact state with the edge, preventing the problem of jamming with the gap due to deformation of the elastic member.

[0025] The mounting base in the utility model also has the function of improving stability. At least two auxiliary wheels are provided on a mounting base. For example, in one embodiment provided by the utility model, two auxiliary wheels can be used. The auxiliary wheels are symmetrically arranged and pressed on the edge of the photovoltaic panel. From the perspective of the whole machine, the pressing area of ​​a single auxiliary wheel group is larger (compared with a conventional single spring driving a single wheel, the wheel and the edge are in line contact), and the guided limited driving is more stable. If lateral obstacle crossing is required, the torsion spring of a single auxiliary wheel can also be deformed and reset separately. During this deformation-reset process, the other auxiliary wheels normally abut the edge. The deformation and reset process of a single obstacle auxiliary wheel is only manifested as the swing of the swing arm. The reset path is clearer and it is not easy to deviate in other directions. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] Figure 1 It is a schematic diagram of the overall structure of the utility model, showing the installation state of the limiting wheel assembly.

[0027] Figure 2 It is a structural schematic diagram of the drive mechanism of the utility model driving the crawler.

[0028] Figure 3 This is a schematic diagram of the auxiliary wheel installation structure of the utility model.

[0029] Among them: 1. driving mechanism; 2. limiting wheel assembly; 3. cleaning mechanism;

[0030] 101, driving motor; 102, bevel gear pair; 103, transmission belt; 104, transmission shaft; 105, track wheel; 106, track;

[0031] 201, mounting seat; 202, swing arm; 203, wheel axle; 204, torsion spring; 205, auxiliary wheel; 206, limiting edge;

[0032] 301. Cleaning motor; 302. Roller brush. DETAILED DESCRIPTION

[0033] The specific implementation of the present utility model is described below in conjunction with the accompanying drawings.

[0034] like Figure 1-Figure 3 As shown, the multi-axis transmission universal span cleaning device of this embodiment includes a driving mechanism 1 and a cleaning mechanism 3 which are independent of each other. The driving mechanism 1 and the cleaning mechanism 3 are arranged alternately. The driving mechanisms 1 at both ends are equipped with limit wheel assemblies.

[0035] The limiting wheel assembly includes a swing arm 202 that swings back and forth along an arc path. A torsion spring 204 is arranged at the swing reference point of the swing arm 202. The torsion spring 204 is used to limit the initial position of the swing arm 202 and pull the swing arm 202 to reset. A section of the swing arm 202 that rotates away from the swing reference point is connected to an auxiliary wheel, and the auxiliary wheel abuts against the edge of the photovoltaic panel to be cleaned.

[0036] In the initial state, the auxiliary wheel abuts against the edge of the photovoltaic panel, and at this time, the swing arm 202 has movement margin in two directions, toward the edge and away from the edge.

[0037] The swing arm 202 is an arc-shaped arm, and the inner concave surface of the swing arm 202 faces the edge of the photovoltaic panel.

[0038] The swing arms 202 are divided into several groups, each group of swing arms 202 is equipped with a mounting seat 201, and the mounting seats 201 are symmetrically arranged on both sides of the forward direction of the cleaning device.

[0039] The swing arms 202 are symmetrically arranged on both sides of the mounting seat 201 , and the clamping force directions of the swing arms 202 on both sides are opposite.

[0040] An axle 203 is connected between the swing arm 202 and the mounting seat 201 . A torsion spring 204 is sleeved on the axle 203 . The torsion spring 204 limits the relative position relationship between the swing arm 202 and the mounting seat 201 .

[0041] Both sides of the mounting seat 201 extend to form limiting edges 206 , and the hinged end of the swing arm 202 is embedded in the limiting edge 206 .

[0042] The driving mechanism 1 includes a driving motor 101, an output end of which is provided with a bevel gear pair 102, the bevel gear pair 102 is connected to a belt transmission structure, the belt transmission structure drives a plurality of transmission shafts 104, the transmission shafts 104 are coaxially fixed with track wheels 105, and the track wheels 105 are tensioned with tracks 106.

[0043] There are multiple transmission shafts 104 , and the transmission shafts 104 are distributed along the inner wall contour of the driving mechanism 1 .

[0044] The cleaning mechanism 3 includes a cleaning motor 301 and a roller brush 302 driven by the cleaning motor 301 ; the cleaning mechanism 3 and the driving mechanism 1 are arranged at intervals to form a detachable module.

[0045] The specific structure of the utility model is as follows:

[0046] like Figure 1 , which is a three-dimensional view of the entire cleaning device. It can be seen from the figure that there are three groups of cleaning mechanisms 3, and the driving mechanism 1 is clamped on both sides of each cleaning mechanism 3. Figure 2 , is a schematic diagram of the working principle of the driving mechanism 1. Figure 3 , is a schematic diagram of the working principle of the cleaning mechanism 3.

[0047] The advantage of the utility model is that it can simultaneously have the functions of plane obstacle crossing, side wall obstacle crossing, and side wall clamping and limiting. The plane obstacle crossing is achieved by the crawler 106 of the driving mechanism 1, and the side wall obstacle crossing and clamping and limiting are achieved by a plurality of movable auxiliary wheels 205 of the hanging rail mechanism 2.

[0048] like Figure 2 As shown, the power source of the driving mechanism 1 is a driving motor 101, and a transmission belt 103 is connected to the output shaft of the driving motor 101, and the transmission belt 103 transmits the torque to the transmission shaft 104. Figure 2 and Figure 3 The outer shell of the driving mechanism 1 is in the shape of a polygon. In one embodiment of the utility model, four transmission shafts 104 are provided and distributed along the outer shell of the driving mechanism 1, so that the perimeter of the quadrilateral formed by them is as long as possible, and the single-circle rotation length of the crawler 106 is longer. At least two of the transmission shafts 104 are coaxially fixedly connected with crawler wheels 105. When the transmission belt 103 drives the transmission shaft 104, the crawler wheels 105 on the transmission shaft 104 drive the crawler 106 to realize the walking of the cleaning device.

[0049] The power source of the cleaning mechanism 3 is the cleaning motor 301, and the cleaning motor 301 and the driving motor 101 are structures that provide power sources independently of each other. The cleaning motor 301 rotates, driving the roller brush 302 to rotate, thereby achieving cleaning during the forward process.

[0050] Combined with reference Figure 2 , Figure 3 ,in, Figure 3 The arrangement of the auxiliary wheels 205 of the rail hanging mechanism 2 can be clearly seen. The rail hanging mechanism 2 is located at both ends of the cleaning device and is used to clamp the two sides of the photovoltaic panel to be cleaned and abut against the edge of the photovoltaic panel. The z direction of the rail hanging mechanism 2 in the utility model is perpendicular to Figure 1 The movement in the paper direction is limited and cannot move in the z direction, so the clamping position is always in a horizontal plane and reciprocates along the y direction. The cleaning is along the x direction, that is, perpendicular to the axial direction of the roller brush 302 and in the plane of the photovoltaic panel.

[0051] like Figure 2 As shown, the rail hanging mechanism 2 is installed at the cleaning surface, such as Figure 1 As shown, the rail hanging mechanisms 2 on both sides are symmetrically arranged. In one embodiment of the utility model, the rail hanging mechanism 2 includes a plurality of groups of auxiliary wheels 205, and each group of auxiliary wheels 205 has two.

[0052] The specific installation structure of auxiliary wheel 205 is shown in the figure below. Figure 3 Each set of two auxiliary wheels 205 has a mounting seat 201, which is fixedly connected to the side walls of the driving mechanism 1 on both sides of the cleaning device. The mounting seat 201 is equipped with two swing arms 202 along the y direction. The swing arms 202 and the mounting seat 201 are hinged through a wheel shaft 203. A torsion spring 204 is sleeved on the wheel shaft 203. The torsion spring 204 limits the swing arms 202 to obtain two structures that are collinear with each other or have an obtuse angle between them. Figure 3 As shown, in one embodiment of the present invention, a structure with a large obtuse angle between two swing arms 202 in the same group is adopted, so that under the action of the torsion spring 204, the auxiliary wheels 205 connected to the ends of the two swing arms 202 can have a force pressing obliquely on the side wall of the driving device. If two co-linear swing arms 202 are directly used, the pressing force becomes smaller and the limiting ability becomes worse.

[0053] Between the swing arm 202 and the mounting seat 201, as Figure 3 As shown, the swing arm 202 is clamped on both sides of the mounting base 201 and is clamped and limited by the limiting edge 206, that is, the mounting base 201 limits the axial movement of the swing arm 202 along the wheel axle 203. Compared with the conventional straight spring, the torsion spring 204 limiting structure provided by the utility model has a single swing direction, which is only a reciprocating swing in the xy plane, thereby reducing the possibility of the auxiliary wheel 205 getting stuck in the gap of the side wall of the photovoltaic panel.

[0054] During use, the action principle of normal walking state is as follows:

[0055] The driving motor 101 outputs torque through the bevel gear pair 102. The output section of the bevel gear pair 102 is connected to a transmission belt 103. The transmission belt 103 drives a transmission shaft 104. A crawler wheel 105 is coaxially fixed on the transmission shaft 104. The crawler belt 106 tensioned on the crawler wheel 105 is driven to move relative to the photovoltaic panel to achieve walking on the photovoltaic panel.

[0056] The operating principle of the obstacle crossing state is as follows:

[0057] The driving motor 101 always drives the crawler 106 to move. When encountering obstacles or needing to cross the platform, since the transmission shaft 104 on the cleaning surface is located at the front and rear ends of the cleaning surface in the forward direction, the rigid impact between the transmission shaft 104 and the obstacle is reduced, and the large-area crawler 106 is used to achieve contact and relative movement.

[0058] When there are foreign objects on the guide rail or the gap between the photovoltaic panels is too large and the device is offset, each of the multiple sets of auxiliary wheels on both sides can swing and deform independently, and can achieve the purpose of local clamping and local obstacle crossing at the same time.

[0059] Cleaning status:

[0060] The cleaning action is performed synchronously with walking and overcoming obstacles, and the cleaning motor drives the roller brush 302 to clean the surface of the photovoltaic panel.

[0061] Therefore, the utility model has the following advantages:

[0062] The crawler 106 structure has good adaptability to uneven or discontinuous photovoltaic panels. The cleaning robot with the crawler 106 platform can effectively cross obstacles when encountering cross-platform situations.

[0063] When there is foreign matter on the guide rail or the gap between the photovoltaic panels is too large and the device is offset, the torsion spring 204 can make the auxiliary wheel move back and forth to a certain extent in the x direction and limit the auxiliary wheel from moving too far toward the center of the device, so that the entire device is not easily stuck.

[0064] The power output of the driving mechanism 1 is more uniform and synchronous, and the obstacle-crossing ability of the device is more outstanding.

[0065] The whole device can be divided into multiple modules. Figure 1 The three-stage cleaning mechanism 3 is shown in FIG. 1 , and each stage is connected by a coupling inside the driving mechanism 1 . The number of stages of the cleaning mechanism 3 in the device can be reasonably selected according to the width of the target photovoltaic panel array so that the device is matched with the photovoltaic panel.

[0066] The above description is an explanation of the utility model, not a limitation of the utility model. The scope of the utility model is defined by the claims. Any form of modification can be made within the protection scope of the utility model.

Claims

1. A multi-axis transmission universal span cleaning device, characterized in that: The invention comprises a driving mechanism (1) and a cleaning mechanism (3) which are independent of each other. The driving mechanism (1) and the cleaning mechanism (3) are arranged in a staggered manner. The driving mechanisms (1) at both ends are equipped with limiting wheel assemblies. The limiting wheel assembly comprises a swing arm (202) that swings back and forth along an arc path, a torsion spring (204) is arranged at a swing reference point of the swing arm (202), and the torsion spring (204) is used to limit the initial position of the swing arm (202) and pull the swing arm (202) to reset; a section of the swing arm (202) that rotates away from the swing reference point is connected to an auxiliary wheel, and the auxiliary wheel abuts against the edge of the photovoltaic panel to be cleaned.

2. The multi-axis transmission universal span cleaning device according to claim 1, characterized in that: In the initial state, the auxiliary wheel abuts against the edge of the photovoltaic panel, and at this time, the swing arm (202) has movement margin in two directions, toward the edge and away from the edge.

3. The multi-axis transmission universal span cleaning device according to claim 1, characterized in that: The swing arm (202) is an arc-shaped arm, and the inner concave surface of the swing arm (202) faces the edge of the photovoltaic panel.

4. The multi-axis transmission universal span cleaning device according to claim 3, characterized in that: The swing arms (202) are divided into a plurality of groups, each group of swing arms (202) is equipped with a mounting seat (201), and the mounting seats (201) are symmetrically arranged on both sides of the forward direction of the cleaning device.

5. The multi-axis transmission universal span cleaning device according to claim 4, characterized in that: Swing arms (202) are symmetrically arranged on both sides of the mounting seat (201), and the clamping force directions of the swing arms (202) on both sides are opposite.

6. The multi-axis transmission universal span cleaning device according to claim 5, characterized in that: A wheel axle (203) is connected between the swing arm (202) and the mounting seat (201), a torsion spring (204) is sleeved on the wheel axle (203), and the torsion spring (204) limits the relative position relationship between the swing arm (202) and the mounting seat (201).

7. The multi-axis transmission universal span cleaning device according to claim 4, characterized in that: Both sides of the mounting seat (201) extend to form limiting edges (206), and the hinged end of the swing arm (202) is embedded in the limiting edge (206).

8. The multi-axis transmission universal span cleaning device according to claim 1, characterized in that: The driving mechanism (1) comprises a driving motor (101), the output end of the driving motor (101) is provided with a bevel gear pair (102), the bevel gear pair (102) is connected to a belt transmission structure, the belt transmission structure drives a plurality of driving shafts (104), the driving shafts (104) are coaxially fixedly connected to track wheels (105), and the track wheels (105) are tensioned with track belts (106).

9. The multi-axis transmission universal span cleaning device according to claim 8, characterized in that: A plurality of transmission shafts (104) are provided, and the transmission shafts (104) are distributed along the inner wall profile of the driving mechanism (1).

10. The multi-axis transmission universal span cleaning device according to claim 1, characterized in that: The cleaning mechanism (3) comprises a cleaning motor (301) and a roller brush (302) driven by the cleaning motor (301); The cleaning mechanism (3) and the driving mechanism (1) are arranged at intervals to form a detachable module.

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