Torsion type photovoltaic cleaning robot

Abstract

A torsion type photovoltaic cleaning robot comprises an upper end assembly, a lower end assembly and a cleaning roller, the upper end assembly comprises a roller power shaft, a first walking wheel set, a first motor and a second motor, the roller power shaft is in transmission connection with the second motor, and the first walking wheel set is in transmission connection with the first motor; the lower end assembly comprises a roller supporting shaft, a second walking wheel set and a power battery, the second walking wheel set is in transmission connection with the roller supporting shaft, and the two ends of the sweeping roller are connected with the roller supporting shaft and the roller power shaft. According to the structure, the second motor for driving the second walking wheel set and the first motor for driving the first walking wheel set can be arranged at the same end of the robot, the weight difference between the two ends of the robot can be reduced, and therefore triggering of active deviation rectification can be reduced. Moreover, the power of the second motor is transmitted from the upper end assembly to the lower end assembly through the roller power shaft, the cleaning roller and the roller supporting shaft, a power transmission mechanism does not need to be additionally arranged between the upper end assembly and the lower end assembly, and therefore the cleaning device has the advantage of being simple in structure.

Description

Technical Field

[0001] The utility model relates to a cleaning robot for a photovoltaic power station, more specifically to a torsion type photovoltaic cleaning robot. Background Art

[0002] The photovoltaic cleaning robot usually includes an upper component and a lower component. When working, the running wheels of the upper component and the running wheels of the lower component move correspondingly on the upper and lower frames of the photovoltaic panel, driving the cleaning rollers to pass through the photovoltaic panel to clean the photovoltaic panel.

[0003] According to the number of drive motors, the existing photovoltaic cleaning robots can be divided into two categories. The first category is: the walking wheels of the upper component and the walking wheels of the lower component share a drive motor, the drive motor is set in the upper component, and the walking wheels of the upper component drive the walking wheels of the lower component to rotate synchronously through the transmission shaft. The second category is: the upper component and the lower component are respectively equipped with drive motors, each driving its own walking wheel. For the first category, since the walking wheels at both ends share a drive motor, it is impossible to achieve active deviation correction through differential control of the walking wheel speed. When the resistance of the upper component and the lower component is greatly different, the walking wheel is more likely to get stuck or detach from the photovoltaic panel frame; for the second category, the walking wheel speed at both ends can be adjusted differentially according to the posture of the cleaning robot to achieve active deviation correction, but since one of the upper component and the lower component needs to be equipped with a power battery, the weight difference between the upper component and the lower component is large, it is more likely to have different walking speeds at the upper and lower ends of the robot, and frequently trigger active deviation correction. Utility Model Content

[0004] In view of this, the utility model provides a torsion-type photovoltaic cleaning robot, which reduces the triggering of active deviation correction by optimizing the structure of the torsion-type photovoltaic cleaning robot.

[0005] According to the utility model, there is provided a torsion-type photovoltaic cleaning robot, which comprises an upper end component, a lower end component and a cleaning roller, the upper end component comprises a roller power shaft, a first walking wheel group, a first motor and a second motor, the roller power shaft is transmission-connected to the second motor, the first walking wheel group is transmission-connected to the first motor, the lower end component comprises a roller support shaft, a second walking wheel group and a power battery, the second walking wheel group is transmission-connected to the roller support shaft, and both ends of the cleaning roller are connected to the roller support shaft and the roller power shaft.

[0006] In some embodiments, the first walking wheel group includes a first front walking wheel and a second front walking wheel, the first front walking wheel and the second front walking wheel are arranged on both sides of the cleaning roller, and a first linkage gear group is provided between the second front walking wheel and the first front walking wheel.

[0007] In some embodiments, the first linkage gear set includes a first gear, a second gear and a third gear, the first gear is fixed to the support shaft of the first front walking wheel, the second gear is fixed to the support shaft of the second front walking wheel, the third gear is arranged on the roller power shaft, and a power isolation member is provided between the third gear and the roller power shaft.

[0008] In some embodiments, the power isolation element includes a plurality of standard bearings, and the plurality of standard bearings are arranged in series on the roller power shaft.

[0009] In some embodiments, the upper end component includes a gear mounting cavity and a cavity cover, the cavity cover is perpendicular to the cleaning roller, the first motor and the second motor are arranged outside the gear mounting cavity and fixed to the cavity cover, the rotating shaft of the first motor is plugged into and matched with the support shaft of the first front walking wheel, and the rotating shaft of the second motor is plugged into and matched with the roller power shaft.

[0010] In some embodiments, the first walking wheel group includes a first side walking wheel arranged corresponding to the first front walking wheel, and a second side walking wheel arranged corresponding to the second front walking wheel, and a second linkage gear group is respectively arranged between the support shaft of the first side walking wheel and the support shaft of the first front walking wheel, and between the support shaft of the second side walking wheel and the support shaft of the second front walking wheel.

[0011] In some embodiments, the second walking wheel group includes a third front walking wheel and a fourth front walking wheel, and the third front walking wheel and the fourth front walking wheel are arranged on both sides of the cleaning roller, and a third linkage gear group is respectively arranged between the roller support shaft and the support shaft of the third front walking wheel, and between the roller support shaft and the support shaft of the fourth front walking wheel.

[0012] In some embodiments, the third linkage gear set includes a fourth gear, a fifth gear, a sixth gear and a seventh gear, the fourth gear is fixed to the roller support shaft, the seventh gear is fixed to the support shaft of the third front walking wheel or the support shaft of the fourth front walking wheel, the fifth gear is meshed with the fourth gear, and the sixth gear is meshed with the fifth gear and the seventh gear respectively.

[0013] Compared with the prior art, the utility model has at least the following beneficial effects:

[0014] The above structure enables the second motor driving the second running wheel group and the first motor driving the first running wheel group to be arranged at the same end of the robot, which can reduce the weight difference between the two ends of the robot, thereby reducing the triggering of active deviation correction. In addition, since the power of the second motor is transmitted from the upper end assembly to the lower end assembly through the roller power shaft, the cleaning roller and the roller support shaft, there is no need to configure an additional power transmission mechanism between the upper end assembly and the lower end assembly, so it also has the characteristics of simple structure. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 It is a three-dimensional picture of the twisting photovoltaic cleaning robot;

[0016] Figure 2 It is a bottom-up schematic diagram of the twisting photovoltaic cleaning robot;

[0017] Figure 3 is a bottom view of the upper component;

[0018] Figure 4 is a bottom view of the lower component;

[0019] Figure 5 is a schematic diagram of a first linkage gear set and a second linkage gear set;

[0020] Figure 6 is a schematic diagram of the installation positions of the first motor and the second motor;

[0021] Figure 7 This is a schematic diagram of the motor shaft connection position;

[0022] Figure 8 is a schematic diagram of the third linkage gear set;

[0023] Fig. 9 This is a schematic diagram of the installation position of the power battery and the roller support shaft;

[0024] Reference numerals:

[0025] 100, upper end assembly; 200, cleaning roller; 300, lower end assembly;

[0026] 101, first front running wheel; 102, second front running wheel; 103, first side running wheel; 104, second side running wheel; 105, first running wheel set; 106, first motor; 107, second motor; 108, roller power shaft; 109, first gear; 110, intermediate gear; 111, third gear; 112, second gear; 113, first linkage gear set; 114, second linkage gear set; 115, third support shaft; 116, first support shaft; 117, power isolation member; 1 18. Fourth support shaft; 119. Second support shaft; 120. Gear mounting cavity; 121. Cavity cover; 122. Shaft hole; 301. Fourth front walking wheel; 302. Third front walking wheel; 303. Fourth side walking wheel; 304. Third side walking wheel; 305. Second walking wheel set; 306. Roller support shaft; 307. Power battery; 308. Seventh gear; 309. Sixth gear; 310. Fifth gear; 311. Fourth gear; 312. Third linkage gear set; 313. Fifth support shaft. DETAILED DESCRIPTION

[0027] The utility model is further described below in conjunction with the accompanying drawings and embodiments.

[0028] Reference Figures 1 to 4 ,as well as Fig. 9 The torsion photovoltaic cleaning robot includes an upper component 100, a lower component 300 and a cleaning roller 200. The upper component 100 includes a roller power shaft 108, a first walking wheel group 105, a first motor 106 and a second motor 107. The roller power shaft 108 is connected to the second motor 107 by transmission, and the first walking wheel group 105 is connected to the first motor 106 by transmission. The lower component 300 includes a roller support shaft 306, a second walking wheel group 305 and a power battery 307. The second walking wheel group 305 is connected to the roller support shaft 306 by transmission. One end of the cleaning roller 200 is connected to the roller support shaft 306, and the other end of the cleaning roller 200 is connected to the roller power shaft 108.

[0029] During operation, the first motor 106 drives the first walking wheel group 105 to rotate, the second motor 107 drives the roller power shaft 108 to rotate, the roller power shaft 108 drives the cleaning roller 200 to rotate, the cleaning roller 200 drives the roller support shaft 306 to rotate, and the roller support shaft 306 drives the second walking wheel group 305 to rotate.

[0030] The above structure enables the second motor 107 driving the second walking wheel group 305 and the first motor 106 driving the first walking wheel group 105 to be arranged at the same end of the torsion type photovoltaic cleaning robot, which can reduce the weight difference between the two ends of the torsion type photovoltaic cleaning robot, thereby reducing the triggering of active deviation correction. Moreover, since the power of the second motor 107 is transmitted from the upper component 100 to the lower component 300 through the roller power shaft 108, the cleaning roller 200 and the roller support shaft 306, there is no need to configure an additional power transmission mechanism between the upper component 100 and the lower component 300, so the torsion type photovoltaic cleaning robot has a simple structure and light weight.

[0031] Reference Figure 3 and Figure 5 In this embodiment, the first walking wheel group 105 includes a first front walking wheel 101 and a second front walking wheel 102, the first front walking wheel 101 and the second front walking wheel 102 are arranged on both sides of the cleaning roller 200, and a first linkage gear group 113 is provided between the second front walking wheel 102 and the first front walking wheel 101. During operation, the first front walking wheel 101 and the second front walking wheel 102 move synchronously on the upper frame of the photovoltaic panel under the linkage of the first linkage gear group 113. Compared with belts, gear groups are less prone to wear and have more stable power transmission. Therefore, in this embodiment, the first linkage gear group 113 is used to realize the linkage of the first front walking wheel 101 and the second front walking wheel 102, so that the maintenance cycle of the linkage mechanism is longer, and the synchronization of the first front walking wheel 101 and the second front walking wheel 102 is better.

[0032] It should be noted that providing a first front running wheel 101 and a second front running wheel 102 has the advantage of being light in weight while stably supporting the cleaning roller 200. However, the number of the first front running wheel 101 and the second front running wheel 102 of the present embodiment is not limited to one each. When weight and cost are not considered, the number of the first front running wheel 101 and the second front running wheel 102 may also be multiple, for example, two each.

[0033] Reference Figure 5The first linkage gear set 113 includes a first gear 109, a second gear 112 and a third gear 111. The first gear 109 is fixed to the support shaft of the first front walking wheel 101. For the convenience of description, the support shaft is called the first support shaft 116. The second gear 112 is fixed to the support shaft of the second front walking wheel 102. For the convenience of description, the support shaft is called the second support shaft 119. The third gear 111 is arranged on the roller power shaft 108 and is connected to the roller power shaft 108 through a power isolator 117. Two mutually meshing intermediate gears 110 are further provided between the first gear 109 and the third gear 111. The first gear 109 is linked to the third gear 111 through the two intermediate gears 110. Two mutually meshing intermediate gears 110 are provided between the third gear 111 and the second gear 112. The third gear 111 is linked to the second gear 112 through the two intermediate gears 110. In this embodiment, the first linkage gear set 113 does not need to avoid the roller power shaft 108 in space, which can reduce the installation space of the first linkage gear set 113.

[0034] It should be noted that by setting the intermediate gear 110 between the first gear 109 and the third gear 111, and between the third gear 111 and the second gear 112, the diameter of each gear constituting the first linkage gear set 113 is reduced, thereby further reducing the overall height of the first linkage gear set 113. However, the first linkage gear set 113 of this embodiment is not limited to this. When the installation space is not considered, the above-mentioned intermediate gear 110 may not be set. By increasing the diameters of the first gear 109, the second gear 112 and the third gear 111, the first gear 109 and the third gear 111 are directly meshed and linked, and the third gear 111 and the second gear 112 are directly meshed and linked. In addition, the third gear 111 can also be set above or below the roller power shaft 108, staggered in space, so that the rotation of the third gear 111 will not interfere with the rotation of the roller power shaft 108.

[0035] In this embodiment, the power isolator 117 includes a plurality of standard bearings, which are arranged in series on the roller power shaft 108, the inner ring of the bearing is fixed to the roller power shaft 108, and the third gear 111 is fixed to the outer ring of the bearing. It should be noted that the power isolator 117 is constructed by using a plurality of standard bearings, and there is no need to customize the power isolator 117, which can reduce costs, but the power isolator 117 of this embodiment is not limited to this. When the cost is not considered, a bearing with a thickness that matches the thickness of the third gear can also be customized, and such a bearing constitutes the power isolator.

[0036] Reference Figure 3 and Figure 5The first walking wheel group 105 also includes a first side walking wheel 103 and a second side walking wheel 104. The first side walking wheel 103 corresponds to the first front walking wheel 101 and is arranged at approximately 90 degrees to the first front walking wheel 101. The second side walking wheel 104 corresponds to the second front walking wheel 102 and is arranged at approximately 90 degrees to the second front walking wheel 102. For the convenience of description, the support shaft of the first side walking wheel 103 is called the third support shaft 115, and the support shaft of the second side walking wheel 104 is called the fourth support shaft 118. A second linkage gear set 114 is respectively arranged between the first support shaft 116 and the third support shaft 115, and between the second support shaft 119 and the fourth support shaft 118. When working, the first front walking wheel 101 and the second front walking wheel 102 are linked to the first side walking wheel 103 and the second side walking wheel 104 through their respective corresponding second linkage gear sets 114, wherein the front walking wheel walks on the front side of the frame of the photovoltaic panel, and the side walking wheels walk on the side of the frame of the photovoltaic panel, so that the photovoltaic cleaning robot can walk on the photovoltaic panel more reliably.

[0037] The second linkage gear set 114 includes a bevel gear pair, and two bevel gears of the bevel gear pair are respectively fixed to the support shaft of the front running wheel and the support shaft of the side running wheel.

[0038] Reference Figure 2 , Figure 5 , Figure 6 , Figure 7 The upper component 100 includes a gear installation cavity 120 and a cavity cover 121. The cavity cover 121 is perpendicular to the cleaning roller 200. The first motor 106 and the second motor 107 are arranged outside the gear installation cavity 120 and installed on the cavity cover 121. The first support shaft 115 is provided with an axial hole 122 at one end corresponding to the cavity cover 121. The hole wall of the axial hole 122 is provided with a keyway. The rotating shaft of the first motor 106 is inserted into the axial hole 122. Similarly, the shaft power shaft is provided with an axial hole 122 at one end corresponding to the cavity cover 121. The hole wall of the axial hole 122 is provided with a keyway. The rotating shaft of the second motor 107 is inserted into the axial hole 122. When the motor needs to be disassembled, the screws connecting the cavity cover 121 and the motor are removed, and then the motor is pulled outward to remove the motor, which makes the motor disassembly more convenient.

[0039] Reference Figure 4 and Figure 8The second travel wheel group 305 includes a third front travel wheel 302 and a fourth front travel wheel 301. The third front travel wheel 302 and the fourth front travel wheel 301 are arranged on both sides of the cleaning roller 200. A third linkage gear group 312 is arranged between the roller support shaft 306 and the fifth support shaft 313, that is, between the roller support shaft 306 and the support shaft of the third front travel wheel 302. A third linkage gear group is also arranged between the roller support shaft 306 and the support shaft of the fourth front travel wheel 301. When working, the roller support shaft 306 and the third front travel wheel 302, as well as the roller support shaft 306 and the fourth front travel wheel 301, move synchronously on the upper frame of the photovoltaic panel under the linkage of the third linkage gear group 312. Compared with belts, gear sets are less prone to wear and have more stable power transmission. Therefore, this embodiment uses the third linkage gear set 312 to realize the linkage between the third front walking wheel 302 and the fourth front walking wheel 301 and the roller support shaft 306, so that the maintenance cycle of the linkage mechanism is longer and the synchronization between the third front walking wheel 302 and the fourth front walking wheel 301 is better.

[0040] It should be noted that the provision of a third front running wheel 302 and a fourth front running wheel 301 has the advantage of being light in weight while stably supporting the cleaning roller 200. However, the number of the third front running wheel 302 and the fourth front running wheel 301 of the present embodiment is not limited to one each. When weight and cost are not considered, the number of the third front running wheel 302 and the fourth front running wheel 301 may also be multiple, for example, two each.

[0041] Taking the third linkage gear set 312 between the roller support shaft 306 and the third front walking wheel 302 as an example, the third linkage gear set 312 includes a fourth gear 311, a fifth gear 310, a sixth gear 309 and a seventh gear 308. The fourth gear 311 is fixed to the roller support shaft 306, the seventh gear 308 is fixed to the fifth support shaft 313, that is, the support shaft of the third front walking wheel 302, the fifth gear 310 is meshed with the fourth gear 311, and the sixth gear 309 is meshed with the fifth gear 310 and the seventh gear 308 respectively. When the roller support shaft 306 rotates, it drives the fourth gear 311 to rotate, the fourth gear 311 drives the fifth gear 310 to rotate, the fifth gear 310 drives the sixth gear 309 to rotate, the sixth gear 309 drives the seventh gear 308 to rotate, and the seventh gear 308 drives the third front walking wheel 302 to rotate.

[0042] It should be noted that the third linkage gear set 312 is composed of four gears, from the fourth to the seventh gears, so that the overall height of the third linkage gear set 312 is relatively small, which is conducive to reducing the installation space of the third linkage gear set. However, the third linkage gear set 312 of this embodiment is not limited to this. When the installation space is not considered, for example, the third linkage gear set 312 may also not include the fifth gear 310 and the sixth gear 309, and the diameters of the fourth gear 311 and the seventh gear 308 are made larger so that they can directly mesh and link.

[0043] Reference Figure 3 The second running wheel group 305 also includes a third side running wheel 304 and a fourth side running wheel 303. The third side running wheel 304 corresponds to the third front running wheel 302 and is arranged at a substantially 90-degree angle to the third front running wheel 302. The fourth side running wheel 303 corresponds to the fourth front running wheel 301 and is arranged at a substantially 90-degree angle to the fourth front running wheel 301. The linkage between the side running wheels of the second running wheel group 305 and the corresponding front running wheels is the same as that of the first running wheel group, and will not be described in detail here.

[0044] It should be pointed out that, unless otherwise specified, the above-mentioned "first", "second" and other similar terms are used to distinguish different devices with the same name and cannot be interpreted as having meanings of order, priority, importance, etc.

[0045] The above-mentioned specific embodiments are used to describe the present invention in detail. These detailed descriptions are only limited to helping those skilled in the art understand the content of the present invention and cannot be understood as limiting the protection scope of the present invention. Various modifications, equivalent transformations, etc. made by those skilled in the art to the above-mentioned scheme under the conception of the present invention should be included in the protection scope of the present invention.

Claims

1. A torsion photovoltaic cleaning robot, characterized in that: It includes an upper component, a lower component and a cleaning roller, the upper component includes a roller power shaft, a first walking wheel group, a first motor and a second motor, the roller power shaft is drivingly connected to the second motor, the first walking wheel group is drivingly connected to the first motor, the lower component includes a roller support shaft, a second walking wheel group and a power battery, the second walking wheel group is drivingly connected to the roller support shaft, and both ends of the cleaning roller are connected to the roller support shaft and the roller power shaft.

2. The torsion photovoltaic cleaning robot according to claim 1, characterized in that: The first travel wheel group includes a first front travel wheel and a second front travel wheel, the first front travel wheel and the second front travel wheel are arranged on both sides of the cleaning roller, and a first linkage gear group is arranged between the second front travel wheel and the first front travel wheel.

3. The torsion photovoltaic cleaning robot according to claim 2, characterized in that: The first linkage gear set includes a first gear, a second gear and a third gear. The first gear is fixed to the support shaft of the first front walking wheel, the second gear is fixed to the support shaft of the second front walking wheel, the third gear is arranged on the roller power shaft, and a power isolation member is provided between the third gear and the roller power shaft.

4. The torsion photovoltaic cleaning robot according to claim 3, characterized in that: The power isolation member includes a plurality of standard bearings, and the plurality of standard bearings are arranged in series on the roller power shaft.

5. The torsion photovoltaic cleaning robot according to claim 2, characterized in that: The upper end component includes a gear mounting cavity and a cavity cover, the cavity cover is perpendicular to the cleaning roller, the first motor and the second motor are arranged outside the gear mounting cavity and fixed to the cavity cover, the rotating shaft of the first motor is plugged into and matched with the support shaft of the first front walking wheel, and the rotating shaft of the second motor is plugged into and matched with the roller power shaft.

6. The torsion photovoltaic cleaning robot according to claim 2, characterized in that: The first walking wheel group includes a first side walking wheel arranged corresponding to the first front walking wheel, and a second side walking wheel arranged corresponding to the second front walking wheel, and a second linkage gear group is respectively arranged between the support shaft of the first side walking wheel and the support shaft of the first front walking wheel, and between the support shaft of the second side walking wheel and the support shaft of the second front walking wheel.

7. The torsion photovoltaic cleaning robot according to claim 1, characterized in that: The second walking wheel group includes a third front walking wheel and a fourth front walking wheel, and the third front walking wheel and the fourth front walking wheel are arranged on both sides of the cleaning roller. A third linkage gear group is respectively arranged between the roller support shaft and the support shaft of the third front walking wheel, and between the roller support shaft and the support shaft of the fourth front walking wheel.

8. The torsion photovoltaic cleaning robot according to claim 7, characterized in that: The third linkage gear set includes a fourth gear, a fifth gear, a sixth gear and a seventh gear. The fourth gear is fixed to the roller support shaft, the seventh gear is fixed to the support shaft of the third front walking wheel or the support shaft of the fourth front walking wheel, the fifth gear is meshed with the fourth gear, and the sixth gear is meshed with the fifth gear and the seventh gear respectively.

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