Walking driving structure of photovoltaic cleaning robot

Abstract

The utility model discloses a walking driving structure of a photovoltaic cleaning robot, and belongs to the technical field of cleaning robots. Comprising a driving device box body, a power mechanism is installed on one side of the outer surface of the driving device box body, the power mechanism is composed of a direct current motor and is coaxially connected with a chain driving mechanism through a main shaft, the chain driving mechanism is in driving connection with a chain transmission mechanism, and the chain transmission mechanism is in coaxial driving connection with an obstacle crossing mechanism. The integrated transmission design is adopted, multiple transmission functions are achieved through single motor driving, the integrated design of the system is achieved, the structure is simplified, the equipment size is reduced, and the overall efficiency of the equipment is improved. Through chain transmission, the transmission efficiency is improved, the chain abrasion condition is reduced, the reliability of equipment is greatly improved, and maintenance is easy. Accurate speed ratio control can be achieved, speed ratio combination of multiple sets of chains is adopted, the adaptability of equipment to different working conditions is improved, and the obstacle crossing ability is good.

Description

Technical Field

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

[0002] Photovoltaic power generation, with its unique advantage of generating electricity as soon as light shines, has become a clean energy option with convenient deployment, relatively low cost and easy maintenance, and has been widely used everywhere. Especially in desert areas, due to abundant sunlight and long sunshine hours, photovoltaic power generation has significant advantages in desert environments.

[0003] However, as the scale of photovoltaic power stations expands, it is particularly important to ensure the maximum power generation efficiency of photovoltaic panels and reduce the reduction in power generation efficiency caused by dust shading the photovoltaic panels. In the current desert environment, the main way to clean photovoltaic panels is to use photovoltaic cleaning robots for automatic cleaning. In this extremely harsh environment, how to design an efficient and reliable photovoltaic cleaning robot drive device has become a top priority.

[0004] In recent years, the application scale of photovoltaic power stations has continued to increase, requiring the driving system of cleaning robots to be able to operate stably under extreme conditions such as extreme temperatures and high wind speeds. In addition, how to optimize the cleaning effect of cleaning robots in desert environments and minimize energy consumption has become one of the technical challenges in the field of photovoltaic power generation.

[0005] Therefore, those skilled in the art urgently need to solve the reliability and efficiency issues of the driving device of the cleaning robot under desert conditions to ensure the stable operation and long-term sustainable development of the photovoltaic power generation system. Utility Model Content

[0006] The purpose of the utility model is to provide a walking drive structure of a photovoltaic cleaning robot, which can more stably cross plane dislocation, frame dislocation, and string connection bridges with large slopes. By setting multiple groups of chains, the power output of one power component to multiple transmission components can be achieved, and different steering and running speeds can be achieved. The cleaning efficiency and quality per unit time are greatly improved, ensuring reliable and stable operation in harsh environments and simple maintenance.

[0007] To achieve the above-mentioned purpose, the utility model provides a walking drive structure of a photovoltaic cleaning robot, including a driving device box, a power mechanism is installed on one side of the outer surface of the driving device box, the power mechanism is composed of a DC motor, and is coaxially connected to a chain driving mechanism through a main shaft, the chain driving mechanism is drivingly connected to a chain transmission mechanism, and the chain transmission mechanism is coaxially drivingly connected to an obstacle crossing mechanism.

[0008] Preferably, the chain drive mechanism includes a driving sprocket 1, a driving sprocket 2, a driven sprocket and a tensioning sprocket 1. The driving sprocket 1 and the driving sprocket 2 are coaxially driven and connected. The driving sprocket 1 is driven and connected to the tensioning sprocket 1 through the chain 1, and the driving sprocket 2 is driven and connected to the driven sprocket through the chain 2.

[0009] Preferably, the chain transmission mechanism includes a driving sprocket three, which is coaxially drivingly connected to the driven sprocket, and the driving sprocket three is drivingly connected to the transmission sprocket and the tensioning sprocket two through the chain three.

[0010] Preferably, the obstacle overcoming mechanism comprises an obstacle overcoming wheel, which is drivingly connected to a driven bevel gear via a one-way bearing, the driven bevel gear is meshingly connected to a driving bevel gear in a vertical direction, and the driving bevel gear is coaxially drivingly connected to a transmission sprocket.

[0011] Preferably, a deep groove ball bearing is provided at the bottom of the connection between the driven bevel gear and the one-way bearing. The deep groove ball bearing is fixed by a fixing seat and sleeved on the obstacle crossing wheel axle.

[0012] Preferably, the transmission sprocket is also coaxially drive-connected with the travel wheel.

[0013] Preferably, the driving sprocket is also drivingly connected to the brush roller driving sprocket through a chain, and a brush roller driving shaft is penetrated at the center of the brush roller driving sprocket for driving the movement of the brush roller.

[0014] Therefore, the utility model adopts a walking drive structure of a photovoltaic cleaning robot with the above structure, which has the following beneficial effects:

[0015] (1) The utility model uses chain transmission to increase transmission efficiency, reduce chain wear, and can adapt to a variety of working conditions and requirements, greatly increasing system reliability and facilitating maintenance.

[0016] (2) The utility model realizes the three transmission functions of the walking wheel set, the obstacle-crossing wheel set and the brush roller through the drive of a motor, thereby achieving a more energy-saving and lower-cost design.

[0017] (3) The obstacle-crossing wheel group in the utility model has the ability to cross larger planes and frame misalignments on photovoltaic panels, and can also adapt to complex environments such as string connection bridges with larger slopes, demonstrating excellent obstacle-crossing performance.

[0018] (4) The utility model adopts an integrated transmission design and realizes multiple transmission functions through a single motor drive, thereby realizing an integrated design of the system, simplifying the structure, reducing the system volume, and further improving the overall efficiency of the system.

[0019] (5) The utility model can realize precise speed ratio control and adopts a speed ratio combination of multiple chains to realize precise control of the speed ratio between the brush roller and the travel wheel, thereby improving the adaptability of the system to different working conditions and making it more flexible.

[0020] The technical solution of the utility model is further described in detail below through the accompanying drawings and embodiments. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1 This is a schematic diagram of a top view of a walking drive structure of a photovoltaic cleaning robot according to the utility model;

[0022] Figure 2 This is a schematic cross-sectional structure diagram of the walking drive structure of a photovoltaic cleaning robot according to the utility model, as viewed from the AA direction;

[0023] Figure 3 This is a schematic diagram of a BB-axis cross-sectional structure of a walking drive structure of a photovoltaic cleaning robot according to the utility model;

[0024] Figure 4 This is a schematic diagram of the chain drive mechanism structure of a walking drive structure of a photovoltaic cleaning robot of the utility model;

[0025] Figure 5 This is a schematic diagram of the chain transmission mechanism structure of the walking drive structure of a photovoltaic cleaning robot of the utility model;

[0026] Reference numerals

[0027] 1-obstacle overcoming mechanism, 101-drive device housing, 2-power mechanism, 3-chain drive mechanism, 4-chain transmission mechanism, 5-chain 2, 6-DC motor, 7-tensioning sprocket 1, 8-chain 1, 9-drive sprocket 1, 10-drive sprocket 2, 11-driven sprocket, 12-brush roller drive shaft, 13-travel wheel, 14-tensioning sprocket 2, 15-drive sprocket 3, 16-drive sprocket, 17-chain 3, 18-obstacle overcoming wheel, 19-driven bevel gear, 20-active bevel gear, 21-brush roller drive sprocket, 22-one-way bearing, 23-deep groove ball bearing, 24-obstacle overcoming wheel shaft, 25-fixed seat. DETAILED DESCRIPTION

[0028] The technical solution of the utility model is further described below through the accompanying drawings and embodiments.

[0029] Unless otherwise defined, the technical terms or scientific terms used in the present invention shall have the usual meanings understood by persons with ordinary skills in the field to which the present invention belongs. The words "first", "second" and similar words used in the present invention do not indicate any order, quantity or importance, but are only used to distinguish different components. Words such as "include" or "comprise" and the like mean that the elements or objects appearing before the word include the elements or objects listed after the word and their equivalents, without excluding other elements or objects. Words such as "connect" or "connected" and the like are not limited to physical or mechanical connections, but may include electrical connections, whether direct or indirect. "Up", "down", "left", "right" and the like are only used to indicate relative positional relationships. When the absolute position of the described object changes, the relative positional relationship may also change accordingly.

[0030] Example

[0031] like Figure 1-5 As shown, the utility model provides a walking drive structure of a photovoltaic cleaning robot, including a driving device box 101, a power mechanism 2 is installed on one side of the outer surface of the driving device box 101, the power mechanism 2 is composed of a DC motor 6, and is coaxially connected to a chain driving mechanism 3 through a main shaft, the chain driving mechanism 3 is drivingly connected to a chain transmission mechanism 4, and the chain transmission mechanism 4 is coaxially drivingly connected to an obstacle crossing mechanism 1.

[0032] The chain drive mechanism 3 includes a driving sprocket 19, a driving sprocket 210, a driven sprocket 11 and a tensioning sprocket 17. The driving sprocket 19 and the driving sprocket 210 are coaxially connected. The driving sprocket 19 is connected to the tensioning sprocket 7 through the chain 18, and the driving sprocket 210 is connected to the driven sprocket 11 through the chain 25. The driving sprocket 210 is connected to the coaxially arranged driving sprocket 19 to form a driving sprocket set. The driven sprocket 11 is connected to the driving sprocket 210 through the chain 25 to transmit power to other parts of the robot. The tensioning sprocket 7 ensures that the chain 8 maintains appropriate tension and improves transmission efficiency.

[0033] The chain transmission mechanism 4 includes a driving sprocket 3 15, which is coaxially connected to the driven sprocket 11, and the driving sprocket 3 15 is connected to the driving sprocket 16 and the tensioning sprocket 2 14 through the chain 3 17. The chain 3 17 is arranged around the driving sprocket 16 and the driving sprocket 3 15. The tensioning sprocket 2 14 is used to ensure that the chain 3 17 maintains an appropriate tension to improve the transmission efficiency. The chain 3 17 connects the tensioning sprocket 2 14, the driving sprocket 3 15 and the driving sprocket 16 to form a chain transmission mechanism 4.

[0034] The speed difference between the travel wheel and the brush roller is achieved by ensuring that the diameter of the drive sprocket three 15 is smaller than the diameter of the transmission sprocket 16 and the diameter of the brush roller drive sprocket 21 is smaller than the diameter of the drive sprocket one 9, but equal to the diameter of the drive sprocket three 15:

[0035] This design ensures that the brush roller rotates at a high speed during cleaning, while the speed of the walking wheel 13 is relatively low. Due to the diameter difference between the drive sprocket 3 15 and the transmission sprocket 16, and the diameter relationship between the brush roller drive sprocket 21 and the drive sprocket 1 9, the robot can clean the surface of the photovoltaic panel more efficiently when performing tasks.

[0036] The obstacle overcoming mechanism 1 includes an obstacle overcoming wheel 18, which is driven and connected to a driven bevel gear 19 through a one-way bearing 22, and the driven bevel gear 19 is meshed and connected to a driving bevel gear 20 in a vertical direction, and the driving bevel gear 20 is coaxially driven and connected to a transmission sprocket 16. At least one obstacle overcoming wheel set and one running wheel set rotating in the same direction as the obstacle overcoming wheel set, the obstacle overcoming wheel set is specifically responsible for the obstacle overcoming function, and the running wheel set is responsible for basic travel. This division of labor enables the robot to adapt to different terrains and obstacle overcoming conditions at the same time when performing tasks.

[0037] A deep groove ball bearing 23 is provided at the bottom of the connection between the driven bevel gear 19 and the one-way bearing 22 . The deep groove ball bearing 23 is fixed by a fixing seat 25 and sleeved on the obstacle crossing wheel shaft 24 .

[0038] The rotation of the driven wheel 19 is achieved by the ingenious meshing of the driven bevel gear 19 and the driving bevel gear 20. The driven wheel 19 is coaxial with the obstacle-crossing wheel shaft 24, thereby driving the obstacle-crossing wheel 18 to rotate. The deep groove ball bearing 23 is fixed by the fixing seat 25 and sleeved on the obstacle-crossing wheel shaft 24 to ensure the lubrication and rotation of the obstacle-crossing wheel.

[0039] The obstacle-crossing wheel 18 is cleverly equipped with a one-way bearing 22, so that when the robot moves forward, only the rear obstacle-crossing wheel has a driving function, while the front obstacle-crossing wheel has no driving ability.

[0040] The transmission sprocket 16 is also coaxially connected to the walking wheel 13. The walking wheel 13 drives the driven bevel gear 19 through the rotation of the transmission sprocket 16, and drives the active bevel gear 20 to rotate and finally drives the rotation of the walking wheel 13, realizing the basic walking function of the robot.

[0041] The driving sprocket 9 is also connected to the brush roller driving sprocket 21 through the chain 8. The brush roller driving sprocket 21 is provided with a brush roller driving shaft 12 in the center thereof for driving the movement of the brush roller. The brush roller driving sprocket 21 and the brush roller driving shaft 12 are connected to the DC motor 6 through the chain driving mechanism 3. The brush roller driving sprocket 21 and the brush roller driving shaft 12 can rotate the brush roller synchronously and in reverse directions, thereby achieving efficient cleaning of the photovoltaic panel and ensuring its performance and output power.

[0042] Combination of multiple chain drives: By cleverly combining three sets of chain drives, the load can be shared, thereby reducing the tension of the chain, improving the transmission efficiency and reducing the wear of the chain. This transmission design also provides flexibility and efficiency for the robot in different tasks.

[0043] Single motor multi-function drive: A single motor is used to cleverly realize the three transmission functions of the travel wheel set, obstacle-crossing wheel set and brush roller. This not only reduces the complexity of the system, but also achieves a more energy-saving and cost-effective design. This integrated drive solution improves the reliability and efficiency of the entire system.

[0044] Obstacle-crossing wheel design: The obstacle-crossing wheel is driven by a one-way bearing, and the front wheel has no driving capability, which can greatly increase the robot's obstacle-crossing capability and successfully achieve the required obstacle-crossing function. This design enables the robot to cross large planes and frame misalignments on photovoltaic panels, while coping with complex environments such as string connection bridges with large slopes. The performance of the obstacle-crossing wheel is crucial for the robot to have high adaptability and reliability in actual operation.

[0045] Therefore, the utility model adopts the walking drive structure of the above-mentioned photovoltaic cleaning robot, adopts an integrated transmission design, realizes multiple transmission functions through a single motor drive, realizes the integrated design of the equipment, simplifies the structure, reduces the size of the equipment, and further improves the overall efficiency of the equipment. Through chain transmission, the transmission efficiency is increased, the chain wear is reduced, and it can adapt to a variety of working conditions and requirements, which greatly increases the reliability of the equipment and is easy to maintain. It can achieve precise speed ratio control, adopt a speed ratio combination of multiple groups of chains, and realize precise control of the speed ratio between the brush roller and the walking wheel, which improves the adaptability of the equipment to different working conditions, makes it more flexible, and has good obstacle crossing ability.

[0046] Finally, it should be noted that the above embodiments are only used to illustrate the technical solution of the utility model rather than to limit it. Although the utility model has been described in detail with reference to the preferred embodiments, ordinary technicians in this field should understand that they can still modify or replace the technical solution of the utility model with equivalents, and these modifications or equivalent replacements cannot cause the modified technical solution to deviate from the spirit and scope of the technical solution of the utility model.

Claims

1. A walking drive structure of a photovoltaic cleaning robot, characterized in that: It includes a driving device box body, a power mechanism is installed on one side of the outer surface of the driving device box body, the power mechanism is composed of a DC motor, and is coaxially connected with a chain driving mechanism through a main shaft, the chain driving mechanism is drivingly connected with a chain transmission mechanism, and the chain transmission mechanism is coaxially drivingly connected with an obstacle crossing mechanism; The chain drive mechanism comprises a driving sprocket 1, a driving sprocket 2, a driven sprocket and a tensioning sprocket 1. The driving sprocket 1 and the driving sprocket 2 are coaxially connected to each other. The driving sprocket 1 is connected to the tensioning sprocket 1 through the chain 1, and the driving sprocket 2 is connected to the driven sprocket through the chain 2. The chain transmission mechanism comprises a driving sprocket three, the driving sprocket three is coaxially connected to the driven sprocket, and the driving sprocket three is connected to the transmission sprocket and the tensioning sprocket two through the chain three; The obstacle overcoming mechanism comprises an obstacle overcoming wheel, which is drivingly connected to a driven bevel gear through a one-way bearing, the driven bevel gear is meshingly connected to a driving bevel gear in a vertical direction, and the driving bevel gear is coaxially drivingly connected to a transmission sprocket.

2. The walking drive structure of a photovoltaic cleaning robot according to claim 1, characterized in that: A deep groove ball bearing is arranged at the bottom of the connection between the driven bevel gear and the one-way bearing. The deep groove ball bearing is fixed by a fixing seat and sleeved on the obstacle crossing wheel shaft.

3. The walking drive structure of a photovoltaic cleaning robot according to claim 1, characterized in that: The transmission sprocket is also coaxially connected to the travel wheel.

4. The walking drive structure of a photovoltaic cleaning robot according to claim 1, characterized in that: The driving sprocket is also connected to the brush roller driving sprocket through the chain. A brush roller driving shaft is penetrated at the center of the brush roller driving sprocket for driving the movement of the brush roller.

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