Photovoltaic cleaning robot

Abstract

The photovoltaic cleaning robot comprises a frame and two sets of walking assemblies, the two sets of walking assemblies are arranged at the two ends of the frame correspondingly, and each walking assembly comprises a base, a first-direction rotating shaft, a second-direction rotating shaft, a first-direction walking wheel, a second walking wheel, a driving motor and a right-angle conversion linkage gearbox. The first-direction rotating shaft and the second-direction rotating shaft are both rotationally installed on the base, the first-direction rotating shaft and the second-direction rotating shaft are in a perpendicular state, the first-direction walking wheel is installed on the first-direction rotating shaft, the second-direction walking wheel is installed on the second-direction rotating shaft, and the second-direction walking wheel is installed on the second-direction rotating shaft. The first-direction rotating shaft and the second-direction rotating shaft are linked through a right-angle conversion linkage gear box, and the driving motor is matched with the right-angle conversion linkage gear box.

Description

Technical Field

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

[0002] Photovoltaic panel cleaning robot is a commonly used robot. The structure of the current photovoltaic panel cleaning robot is shown in patent publication document CN111660288B. The robot of this structure moves on two running wheels located at the bottom. The cleaning robot of this structure has a defect when in use. That is, since it only moves on the running wheels located at the bottom, the cleaning robot is prone to slipping or even falling when encountering a photovoltaic panel with a large inclination angle. Utility Model Content

[0003] In view of the above problems, the utility model proposes a photovoltaic cleaning robot.

[0004] The technical solution adopted by the utility model is as follows:

[0005] A photovoltaic cleaning robot comprises a frame and a walking assembly, wherein the walking assembly has two groups, and the two groups of walking assemblies are respectively arranged at both ends of the frame, and the walking assembly comprises a base, a first-direction rotating shaft, a second-direction rotating shaft, a first-direction walking wheel, a second-direction walking wheel, a driving motor and a right-angle conversion linkage gear box, wherein the first-direction rotating shaft and the second-direction rotating shaft are both rotatably mounted on the base, the first-direction rotating shaft and the second-direction rotating shaft are in a vertical state, the first-direction walking wheel is mounted on the first-direction rotating shaft, and the second-direction walking wheel is mounted on the second-direction rotating shaft, the first-direction rotating shaft and the second-direction rotating shaft are linked through a right-angle conversion linkage gear box, and the driving motor cooperates with the right-angle conversion linkage gear box.

[0006] Specifically in this type of cleaning robot, the first-axis walking wheel is used to stick to the upper end surface of the photovoltaic panel, and the second-axis walking wheel is used to stick to the side panel surface of the photovoltaic panel. The first-axis rotating shaft and the second-axis rotating shaft are linked and rotate synchronously through a right-angle conversion linkage gearbox. The drive motor and the right-angle conversion linkage gearbox are coordinated together. When the drive motor drives the gears in the right-angle conversion linkage gearbox to rotate, the first-axis rotating shaft and the second-axis rotating shaft start to rotate. When the first-axis rotating shaft and the second-axis rotating shaft start to rotate, the first-axis walking wheel and the second-axis walking wheel start to operate.

[0007] To sum up, this type of robot is equipped with first-directional walking wheels and second-directional walking wheels, and the first-directional walking wheels and the second-directional walking wheels are in contact with the upper end surface and side end surface of the photovoltaic panel respectively, thereby improving the stability of the entire robot when moving on the photovoltaic panel and reducing the probability of slipping and sliding.

[0008] Optionally, there are two first-direction rotating shafts, the two first-direction rotating shafts are in a parallel and non-contacting state, and pulleys are installed on the first-direction rotating shafts, and the two pulleys are matched together by a synchronous belt.

[0009] Optionally, there are two second-direction rotating shafts, the two second-direction rotating shafts are in a parallel and non-contacting state, and pulleys are installed on the second-direction rotating shafts, and the two pulleys are matched together through a synchronous belt.

[0010] Specifically, the two first-direction rotating shafts are linked by pulleys and a synchronous belt, and the two second-direction rotating shafts are linked by a synchronous belt and a pulley.

[0011] Optionally, an idler wheel mechanism is further included, wherein the idler wheel mechanism is arranged on the base and cooperates with the synchronous belt.

[0012] Optionally, the idler mechanism includes a spring, a rotating plate and an idler wheel. A pin is provided on the base. The rotating plate is rotatably mounted on the pin. The idler wheel is rotatably mounted on the rotating plate. The idler wheel and the synchronous belt rotate tightly together. One end of the spring is engaged with the rotating plate, and the other end of the spring is engaged with the base. The spring is in a tensioned state.

[0013] Specifically, the spring and the idler wheel are respectively located on both sides of the pin shaft. The spring has a tendency to drive the rotating plate to rotate. When the rotating plate rotates, it has a tendency to make the idler wheel press against the synchronous belt to ensure that the synchronous belt is always in a taut state.

[0014] The beneficial effect of the utility model is that by arranging the first-direction walking wheel and the second-direction walking wheel, the first-direction walking wheel and the second-direction walking wheel respectively contact the upper end surface and the side end surface of the photovoltaic panel, thereby improving the stability of the entire robot when moving on the photovoltaic panel and reducing the probability of slipping and sliding. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 This is a schematic diagram of the structure of the photovoltaic cleaning robot;

[0016] Figure 2 yes Figure 1 The enlarged schematic diagram of A in the middle;

[0017] Figure 3 It is a schematic diagram of the structure of the walking component;

[0018] Figure 4 It is a schematic diagram of the positional relationship between the first directional travel wheel and the second directional travel wheel.

[0019] The reference numerals in the figure are: 1, frame; 2, first-direction travel wheel; 3, second-direction travel wheel; 4, base; 5, pulley; 6, synchronous belt; 7, drive motor; 8, spring; 9, pin shaft; 10, rotating plate; 11, idler wheel; 12, first-direction rotating shaft; 13, second-direction rotating shaft; 14, right-angle conversion linkage gear box. DETAILED DESCRIPTION

[0020] The utility model is described in detail below in conjunction with the accompanying drawings.

[0021] As attached Figure 1 , Attachment Figure 2 , Attachment Figure 3 And attached Figure 4 As shown, a photovoltaic cleaning robot includes a frame 1 and a walking assembly. The walking assembly has two groups, and the two groups of walking assemblies are respectively arranged at both ends of the frame 1. The walking assembly includes a base 4, a first rotation shaft 12, a second rotation shaft 13, a first rotation wheel 2, a second rotation wheel, a driving motor 7 and a right-angle conversion linkage gear box 14. The first rotation shaft 12 and the second rotation shaft 13 are both rotatably installed on the base 4, the first rotation shaft 12 and the second rotation shaft 13 are in a vertical state, the first rotation wheel 2 is installed on the first rotation shaft 12, and the second rotation wheel 3 is installed on the second rotation shaft 13. The first rotation shaft 12 and the second rotation shaft 13 are linked by a right-angle conversion linkage gear box, and the driving motor 7 cooperates with the right-angle conversion linkage gear box.

[0022] Specifically in this type of cleaning robot, the first directional walking wheel 2 is used to stick to the upper end surface of the photovoltaic panel, and the second directional walking wheel 3 is used to stick to the side panel surface of the photovoltaic panel. The first directional rotating shaft 12 and the second directional rotating shaft 13 are linked and rotated synchronously through a right-angle conversion linkage gear box. The drive motor 7 is matched with the right-angle conversion linkage gear box. When the drive motor 7 drives the gears in the right-angle conversion linkage gear box to rotate, the first directional rotating shaft 12 and the second directional rotating shaft 13 start to rotate. When the first directional rotating shaft 12 and the second directional rotating shaft 13 start to rotate, the first directional walking wheel 2 and the second directional walking wheel 3 start to operate.

[0023] In summary, this type of robot is provided with a first-directional walking wheel 2 and a second-directional walking wheel 3. The first-directional walking wheel 2 and the second-directional walking wheel 3 are in contact with the upper end surface and the side end surface of the photovoltaic panel respectively, thereby improving the stability of the entire robot when moving on the photovoltaic panel and reducing the probability of slipping and sliding.

[0024] In this robot, the first rotation axis and the second rotation axis are linked via a right-angle conversion linkage gear box 14, and the structure is more compact and reasonable.

[0025] As attached Figure 1 , Attachment Figure 2 , Attachment Figure 3 And attached Figure 4 As shown, there are two first-direction rotating shafts 12 , and the two first-direction rotating shafts 12 are in a parallel and non-contacting state. Pulleys 5 are installed on the first-direction rotating shafts 12 , and the two pulleys 5 are connected together by a synchronous belt 6 .

[0026] As attached Figure 1 , Attachment Figure 2 , Attachment Figure 3 And attached Figure 4 As shown, there are two second-direction rotating shafts 13 , and the two second-direction rotating shafts 13 are in a parallel and non-contacting state. Pulleys 5 are installed on the second-direction rotating shafts 13 , and the two pulleys 5 are matched together through a synchronous belt 6 .

[0027] Specifically, the two first-direction rotating shafts 12 are linked to each other through the pulley 5 and the synchronous belt 6 , and the two second-direction rotating shafts 13 are linked to each other through the synchronous belt 6 and the pulley 5 .

[0028] As attached Figure 1 , Attachment Figure 2 , Attachment Figure 3 And attached Figure 4 As shown, it also includes an idler wheel 11 mechanism, which is arranged on the base 4 and cooperates with the synchronous belt 6.

[0029] As attached Figure 1 , Attachment Figure 2 , Attachment Figure 3 And attached Figure 4 As shown, the idler wheel 11 mechanism includes a spring 8, a rotating plate 10 and an idler wheel 11. A pin shaft 9 is provided on the base 4. The rotating plate 10 is rotatably mounted on the pin shaft 9. The idler wheel 11 is rotatably mounted on the rotating plate 10. The idler wheel 11 and the synchronous belt 6 are tightly fitted together for rotation. One end of the spring 8 is fitted together with the rotating plate 10, and the other end of the spring 8 is fitted together with the base 4. The spring 8 is in a tensioned state.

[0030] Specifically, the spring 8 and the idler wheel 11 are respectively located on both sides of the pin shaft 9. The spring 8 has a tendency to drive the rotating plate 10 to rotate. When the rotating plate 10 rotates, it has a tendency to make the idler wheel 11 press against the synchronous belt 6 to ensure that the synchronous belt 6 is always in a taut state.

[0031] In this robot, the setting of the second-direction rotating wheel greatly improves the passing ability of the entire robot. When the upper and lower ends of the photovoltaic panels are uneven, the presence of the second-direction traveling wheel can help the robot cross the obstacle quickly and stably.

[0032] The above description is only a preferred embodiment of the present invention, and does not limit the patent protection scope of the present invention. Any equivalent transformations made using the contents of the present invention specification, directly or indirectly used in other related technical fields, are also included in the protection scope of the present invention.

Claims

1. A photovoltaic cleaning robot, comprising a frame and a walking assembly, wherein the walking assembly has two groups, and the two groups of walking assemblies are respectively arranged at both ends of the frame, characterized in that: The walking assembly includes a base, a first-direction rotating shaft, a second-direction rotating shaft, a first-direction walking wheel, a second-direction walking wheel, a driving motor and a right-angle conversion linkage gear box. The first-direction rotating shaft and the second-direction rotating shaft are both rotatably mounted on the base. The first-direction rotating shaft and the second-direction rotating shaft are in a vertical state. The first-direction walking wheel is mounted on the first-direction rotating shaft, and the second-direction walking wheel is mounted on the second-direction rotating shaft. The first-direction rotating shaft and the second-direction rotating shaft are linked through a right-angle conversion linkage gear box, and the driving motor cooperates with the right-angle conversion linkage gear box.

2. The photovoltaic cleaning robot according to claim 1, characterized in that: There are two first-direction rotating shafts, which are in a parallel and non-contacting state. Pulleys are installed on the first-direction rotating shafts, and the two pulleys are matched together through a synchronous belt.

3. The photovoltaic cleaning robot according to claim 1, characterized in that: There are two second-direction rotating shafts, which are in a parallel and non-contacting state. Pulleys are installed on the second-direction rotating shafts, and the two pulleys are matched together through a synchronous belt.

4. The photovoltaic cleaning robot according to claim 2 or 3, characterized in that: It also includes an idler wheel mechanism, which is arranged on the base and cooperates with the synchronous belt.

5. The photovoltaic cleaning robot according to claim 4, characterized in that: The idler mechanism includes a spring, a rotating plate and an idler. A pin is provided on the base. The rotating plate is rotatably mounted on the pin. The idler is rotatably mounted on the rotating plate. The idler rotates tightly together with the synchronous belt. One end of the spring is matched with the rotating plate, and the other end of the spring is matched with the base. The spring is in a tensioned state.

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