A buffering and deviation-correcting device for a photovoltaic cleaning robot

Abstract

The utility model relates to a buffering and correcting device for a photovoltaic cleaning robot, comprising at least two equipment frames, each of which is provided with three sets of elastic correcting components; the elastic correcting components include a correcting wheel, which is rotatably connected to a mounting seat by a screw, the mounting seat is connected to a guide shaft, the guide shaft is slidably connected to a base shell, and a reset component is provided inside the base shell; a screw rod passes through the base shell and is connected to the right end of the guide shaft, the right end of the screw rod is connected to a sensing block, and the sensing block is connected to a detection component. The purpose of the utility model is to provide a buffering and correcting device for a photovoltaic cleaning robot to overcome the existing defects, avoid the photovoltaic cleaning trolley from getting stuck, and realize stable and reliable walking on photovoltaic panels.

Description

Technical Field

[0001] The utility model relates to a buffering and deviation-correcting device for a photovoltaic cleaning robot. Background Art

[0002] With the continuous growth and commercialization of the photovoltaic industry, photovoltaic power stations are widely used in various fields, especially the cleaning of photovoltaic panels, which is directly related to the power generation efficiency. Dust and snow will reduce the efficiency of photovoltaic panels in converting light energy. Large photovoltaic power stations generally install photovoltaic cleaning robots to clean photovoltaic components and clean dust, bird droppings, sand and gravel attached to photovoltaic glass panels to keep them clean and maintain normal power generation.

[0003] During the walking process, the robot is often affected by factors such as the panel roughness of the photovoltaic module, the flatness of the connecting bridge and the straightness of the photovoltaic array module track, which may cause one of the wheels to slip, resulting in the cleaning cart tilting and getting stuck. Therefore, a buffering and correction device for a photovoltaic cleaning robot is proposed to address the above problems. Utility Model Content

[0004] The utility model aims to overcome the existing defects and provide a buffering and deviation-correcting device for a photovoltaic cleaning robot, so as to avoid the photovoltaic cleaning trolley from getting stuck and realize stable and reliable walking on the photovoltaic panels.

[0005] The technical solution to achieve the above object is: a buffering and correcting device for a photovoltaic cleaning robot, comprising at least two equipment frames, each of which is provided with three sets of elastic correcting components;

[0006] The elastic correction component includes a correction wheel, which is rotatably connected to a mounting base via a screw, the mounting base is connected to a guide shaft, the guide shaft is slidably connected to a base shell, and a reset component is arranged inside the base shell; a screw rod passes through the base shell and is connected to the right end of the guide shaft, the right end of the screw rod is connected to a sensing block, and the sensing block is connected to a detection component.

[0007] Preferably, the reset component is a spring, the spring is connected to the bottom of the base shell, and the left end of the spring is connected to the right end of the guide shaft.

[0008] Preferably, the detection component is a proximity sensor, and the proximity sensor is connected to the side wall of the device frame and is opposite to the sensing block.

[0009] Preferably, a frame top cover is provided at the upper end of the equipment frame.

[0010] Preferably, it further comprises a photovoltaic cleaning vehicle, wherein the two equipment frames are respectively connected to two ends of the photovoltaic cleaning vehicle.

[0011] Preferably, a single chip microcomputer is further included, and the proximity sensor is electrically connected to the single chip microcomputer.

[0012] The beneficial effects of the utility model are as follows: the buffering and correcting device of the photovoltaic cleaning robot, by setting a sensing block and a proximity sensor, enables the device to have a sensing function when dealing with a tilted photovoltaic cleaning trolley. The tilt signal is sensed by the robot, thereby adjusting the speed of the walking wheel to finally achieve stable and reliable walking on the photovoltaic panel and avoid the phenomenon of the photovoltaic cleaning trolley getting stuck; by setting a spring, when facing the tilted state of the robot, it has the function of buffering and preventing the robot from falling. The correcting wheel, sensing block and proximity sensor set in the device can achieve stable operation even when facing the situation that the photovoltaic cleaning equipment is tilted and stuck due to factors such as uneven photovoltaic module arrays and relatively poor straightness of the guide rails, which are easily caused by factors such as terrain. This prevents damage to the photovoltaic cleaning robot and photovoltaic panels. BRIEF DESCRIPTION OF THE DRAWINGS

[0013] Figure 1 This is a schematic diagram of the buffering and deviation-correcting device of the photovoltaic cleaning robot of the utility model;

[0014] Figure 2 It is a schematic diagram of the elastic deviation-correcting component of the utility model;

[0015] Figure 3 It is a cross-sectional view of the schematic diagram of the utility model;

[0016] Figure 4 It is a detailed diagram of the position of the proximity sensor of the utility model;

[0017] Figure 5 This is a schematic diagram of the normal application of the utility model photovoltaic cleaning vehicle;

[0018] Figure 6 This is a schematic diagram of the X-direction deviation correction of the photovoltaic cleaning vehicle of the utility model;

[0019] Figure 7 This is a schematic diagram of the Y-direction deviation correction of the photovoltaic cleaning vehicle of the utility model;

[0020] Figure 8 It is a relationship diagram between spring length and load of the utility model.

[0021] In the figure: 1. Equipment frame; 2. Elastic correction component; 21. Correction wheel; 22. Screw; 23. Mounting seat; 24. Guide shaft; 25. Base shell; 26. Screw; 27. Induction block; 28. Spring; 3. Proximity sensor; 4. Rack top cover; 5. Photovoltaic cleaning vehicle. DETAILED DESCRIPTION

[0022] The technical solution of the present invention will be described clearly and completely below in conjunction with the accompanying drawings. In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inside", "outside" and the like indicate directions or positional relationships based on the directions or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific direction, be constructed and operated in a specific direction, and therefore cannot be understood as a limitation on the present invention. In addition, the terms "first", "second", and "third" are used for descriptive purposes only, and cannot be understood as indicating or implying relative importance.

[0023] The utility model will be further described below in conjunction with the accompanying drawings.

[0024] like Figure 1-8 As shown, a buffering and correcting device for a photovoltaic cleaning robot comprises at least two equipment frames 1, three sets of elastic correcting components 2 are arranged in each equipment frame 1, and a frame top cover 4 is arranged on the upper end of the equipment frame 1; the elastic correcting component 2 comprises a correcting wheel 21, the correcting wheel 21 is rotatably connected to a mounting seat 23 through a screw 22, the mounting seat 23 is connected to a guide shaft 24, the guide shaft 24 is slidably connected in a base shell 25, a reset component is arranged inside the base shell 25, the reset component is a spring 28, the spring 28 is connected to the bottom of the base shell 25, and the left end is connected to the right end of the guide shaft 24; a screw 26 penetrates the base shell 25 and is connected to the right end of the guide shaft 24, the right end of the screw 26 is connected to a sensing block 27, and the sensing block 27 is connected to a detection component. The detection component is a proximity sensor 3, which is connected to the side wall of the equipment frame 1 and is opposite to the sensing block 27. The proximity sensor 3 is an existing device, and the model may be PG-L45N.

[0025] Specifically, one end of the guide shaft 24 is connected to the sensor block 27 through a screw 26 that passes through the center thread of the spring 28. The sensor block 27 can be a screw head body or a separate gasket connected to the screw. The correcting wheel 21 is fixed to the mounting seat 23 by a screw 22, and the base shell 25 plays a role in protecting and supporting the entire structure.

[0026] Specifically, it also includes a photovoltaic cleaning vehicle 5 , and two equipment frames 1 are respectively connected to two ends of the photovoltaic cleaning vehicle 5 .

[0027] Specifically, it also includes a single chip microcomputer, and the proximity sensor 3 is electrically connected to the single chip microcomputer. The single chip microcomputer adopts an existing device, and the model may be STM32L0.

[0028] Spring 28 buffer structure principle:

[0029] From the Hooke's law formula, P = k xδ, we can transform it into K = G (d^4 / 8ND^3), where:

[0030] G: Transverse elastic coefficient (Young's modulus)

[0031] d: wire diameter

[0032] N: effective number of turns

[0033] D: Average coil diameter

[0034] δ: deformation

[0035] k: spring constant

[0036] By temporarily setting D, d, k, calculating the effective number of turns n, or calculating the deformation amount: δ based on the known P, D, d, n, after confirming the deformation amount, the spring length can be determined by the relationship between the spring length and the load, and then the appropriate spring can be selected. The relationship between the spring length and the load is as follows Figure 8 shown.

[0037] like Figure 4 As shown, the essence of the device sensing the correction state is that the external force caused by the deflection of the robot makes the spring 28 in the elastic correction component 2 in a compressed state, and at this time the sensing block 27 is displaced and moves toward the direction of the proximity sensor 3 until the proximity sensor 3 senses the sensing block 27, thereby generating a voltage fluctuation value of the sensing block 27, which is finally sent to the single-chip microcomputer;

[0038] like Figure 5 As shown, when the photovoltaic cleaning vehicle 5 is moving normally along the photovoltaic panel assembly, in order to facilitate the identification of direction, the photovoltaic cleaning robot is subsequently set to move in the X direction along the photovoltaic panel, and the Y direction is perpendicular to the X-axis direction on the plane.

[0039] When a cleaning vehicle deviates, it generally falls into two categories.

[0040] like Figure 6 As shown in the figure, the first case is that the robot is not parallel to the X direction of the photovoltaic module. If X deflects counterclockwise, the C1 and A signals are triggered; if X deflects clockwise, the A1 and C signals are triggered. At this time, the correction measure usually uses the two wheels on the same side to increase the speed to correct the deviation. If the C1 and A signals are triggered, the wheels 3 and 4 increase the speed to complete the correction.

[0041] like Figure 7 As shown, in the second case, the robot is offset parallel to the Y-axis direction. The signal for this offset phenomenon is that all A, B, and C signals are triggered or all A1, B1, and C1 are triggered. This situation will cause the robot to incompletely clean the photovoltaic module. At this time, the correction measures are the same as the first correction method.

[0042] The buffering and deviation-correcting device of the photovoltaic cleaning robot is provided with a sensing block 27 and a proximity sensor 3, so that the device has a sensing function when dealing with the tilting of the photovoltaic cleaning trolley. The tilt signal is sensed by the robot, so that the speed of the walking wheel is adjusted to finally achieve stable and reliable walking on the photovoltaic panel and avoid the phenomenon of the photovoltaic cleaning trolley getting stuck; the spring 28 is provided to have the function of buffering and preventing the robot from falling when facing the tilting state of the robot. The deviation-correcting wheel 21, the sensing block 27 and the proximity sensor 3 provided in the device can achieve stable operation even when facing the situation that the photovoltaic cleaning equipment is tilted and stuck due to factors such as uneven photovoltaic component arrays and relatively poor straightness of the guide rails, which are caused by factors such as terrain. This can prevent damage to the photovoltaic cleaning robot and photovoltaic panels.

[0043] The above embodiments are only used to illustrate the technical solution of the utility model, rather than to limit it. Although the utility model is described in detail with reference to the above embodiments, ordinary technicians in this field should understand that they can still modify the technical solutions recorded in the above embodiments, or replace some or all of the technical features therein with equivalents. These modifications or replacements do not make the essence of the corresponding technical solutions deviate from the scope of the technical solutions of the embodiments of the utility model.

Claims

1. A buffering and deviation-correcting device for a photovoltaic cleaning robot, characterized in that: It comprises at least two equipment frames (1), each of which has three sets of elastic deviation-correcting components (2) arranged in the equipment frame (1); The elastic deviation correction component (2) comprises a deviation correction wheel (21), the deviation correction wheel (21) is rotatably connected to a mounting seat (23) via a screw (22), the mounting seat (23) is connected to a guide shaft (24), the guide shaft (24) is slidably connected to a base shell (25), and a reset component is arranged inside the base shell (25); a screw rod (26) passes through the base shell (25) and is connected to the right end of the guide shaft (24), the right end of the screw rod (26) is connected to a sensing block (27), and the sensing block (27) is connected to a detection component.

2. The buffering and deviation-correcting device of the photovoltaic cleaning robot according to claim 1 is characterized in that: The reset component is a spring (28), which is connected to the bottom of the base shell (25) and has a left end connected to the right end of the guide shaft (24).

3. The buffering and deviation-correcting device of the photovoltaic cleaning robot according to claim 1, characterized in that: The detection component is a proximity sensor (3), and the proximity sensor (3) is connected to the side wall of the device frame (1) and is opposite to the sensing block (27).

4. The buffering and deviation-correcting device of the photovoltaic cleaning robot according to claim 1, characterized in that: A frame top cover (4) is provided at the upper end of the equipment frame (1).

5. The buffering and deviation-correcting device of the photovoltaic cleaning robot according to claim 1, characterized in that: It also comprises a photovoltaic cleaning vehicle (5), wherein the two equipment frames (1) are respectively connected to two ends of the photovoltaic cleaning vehicle (5).

6. The buffering and deviation-correcting device of the photovoltaic cleaning robot according to claim 3, characterized in that: It also includes a single chip microcomputer, and the proximity sensor (3) is electrically connected to the single chip microcomputer.

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