Mechanical arm position adjusting mechanism based on cleaning robot

Abstract

The utility model discloses a mechanical arm position adjusting mechanism based on a cleaning robot, and particularly relates to the technical field of robots, the mechanical arm position adjusting mechanism comprises a mechanical arm assembly used for cleaning and a transverse position adjusting piece located above the mechanical arm assembly, and clamping mechanisms used for clamping and fixing a photovoltaic piece are arranged at the two ends of the transverse adjusting piece. The mechanical arm assembly moves back and forth above the photovoltaic piece in the transverse direction through the transverse adjusting piece, a mechanical arm driving piece is installed at the end of the mechanical arm assembly, and the mechanical arm driving piece is used for driving the mechanical arm assembly to clean the photovoltaic piece and driving the mechanical arm assembly to move back and forth above the photovoltaic piece in the longitudinal direction. The whole size of the cleaning robot is reduced, the mass is lighter, the production cost is reduced, the failure rate is lower in the operation process, and the influence on the surface of a photovoltaic piece is smaller.

Description

Technical Field

[0001] The utility model relates to the technical field of robots, and more specifically, to a mechanical arm position adjustment mechanism based on a cleaning robot. Background Art

[0002] With the rapid development of the photovoltaic industry, the photovoltaic power generation industry has become a trend in the power generation industry at home and abroad with its advantages of environmental protection and high energy quality. Photovoltaic power generation components operate outdoors for a long time, and their cleanliness has become an important factor affecting the efficiency of photovoltaic power generation to a large extent.

[0003] In order to ensure the cleanliness of photovoltaic modules, the industry usually uses photovoltaic cleaning robots to clean photovoltaic power generation modules. Existing photovoltaic panel cleaning robots are usually equipped with upper hanging wheels at the lower part of the upper side of the casing and running wheels at the lower part of the middle part of the casing. The upper hanging wheels are used to walk on the side of the photovoltaic panel. Since the photovoltaic panel is usually tilted, the upper hanging wheels can be used to hang the photovoltaic panel cleaning robot on the photovoltaic panel; the running wheels can be used to allow the photovoltaic panel cleaning robot to walk on the photovoltaic panel. The upper hanging wheels of the existing photovoltaic panel cleaning robot are driven by one motor, and the running wheels are driven by another motor. Therefore, due to the excessive motor settings, the existing photovoltaic panel cleaning robot has the defects of large overall size, high cost and high probability of failure. Utility Model Content

[0004] In order to solve the above technical problems, the utility model provides a mechanical arm position adjustment mechanism based on a cleaning robot, including a mechanical arm assembly for cleaning and a lateral position adjustment member located above the mechanical arm mechanism, and clamping mechanisms for clamping and fixing on the photovoltaic component are arranged at both ends of the lateral adjustment member. The mechanical arm assembly moves back and forth in the lateral direction above the photovoltaic component through the lateral adjustment member, and a mechanical arm driving member is installed at the end of the mechanical arm assembly, and the mechanical arm driving member is used to drive the mechanical arm assembly to clean the photovoltaic component and drive the mechanical arm assembly to move back and forth in the longitudinal direction above the photovoltaic component.

[0005] In a preferred embodiment, the mechanical arm assembly includes a cleaning roller attached to the surface of the photovoltaic component and a roller frame located above the cleaning roller, and both ends of the cleaning roller are movably mounted on the roller frame through a rotating shaft.

[0006] In a preferred embodiment, the lateral position adjustment member includes an air pipe placed horizontally above the roller frame, both ends of the air pipe are clamped and fixed on the photovoltaic component by a clamping mechanism, a piston that slides back and forth is arranged inside the air pipe, and a lateral slider that slides back and forth is arranged outside the air pipe located outside the piston.

[0007] In a preferred embodiment, a through hole with a diameter larger than the outer diameter of the trachea is opened inside the transverse slider, and a plurality of rotatable balls are embedded on the inner wall of the through hole. The balls are attached to the outer wall of the trachea, and the transverse slider slides back and forth outside the trachea through the balls.

[0008] In a preferred embodiment, external magnetic blocks are embedded at both ends of the transverse slider, and internal magnetic blocks cooperating with the external magnetic blocks are embedded inside the piston;

[0009] An air pump is connected to one end of the air pipe through a pipeline, and an air pressure regulating valve is installed at the other end of the air pipe;

[0010] A threaded pipe is fixed at the bottom of the transverse slider.

[0011] In a preferred embodiment, the robotic arm driving component includes a screw inserted into the threaded tube and a drive box located at one end of the roller frame. A fixed position bearing is also sleeved on the outside of the screw, and the bottom of the bearing is fixed to the top of the roller frame. A limit block is provided on the top of the bearing to fit with the bottom of the transverse slider.

[0012] In a preferred embodiment, the rotating shaft at the end of the screw and the cleaning roller extends into the interior of the driving box, a first gear is installed at the end of the screw, a second gear is installed at the end of the rotating shaft, an electromagnetic clutch fixed to the end of the roller frame is provided between the first gear and the second gear, a transmission shaft is connected to the electromagnetic clutch, a crown tooth is installed at the top and bottom of the transmission shaft, and the upper and lower crown teeth are respectively meshed and connected with the first gear and the second gear.

[0013] In a preferred embodiment, a driving motor is also installed in the driving box, and the end of the output shaft of the driving motor is connected to the rotating shaft at the end of the cleaning roller.

[0014] Technical effects and advantages of the utility model:

[0015] The utility model reduces the overall volume of the cleaning robot, makes it lighter, reduces production costs, and has a lower failure rate during operation and less impact on the surface of photovoltaic components. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 It is a schematic diagram of the overall structure of the utility model;

[0017] Figure 2 It is a schematic diagram of the overall structure of the drive box of the utility model when it is cut open;

[0018] Figure 3 It is a schematic diagram of the overall structure of the drive box and the transverse slide block of the utility model when they are cut apart;

[0019] Figure 4 For the utility model Figure 2 Detailed structural diagram at A in the middle;

[0020] Figure 5 For the utility model Figure 3 Schematic diagram of the detailed structure at point B in the middle.

[0021] Explanation of the reference numerals: 1 cleaning roller, 2 roller frame, 3 air pipe, 4 piston, 5 transverse slider, 6 through hole, 7 ball bearing, 8 external magnetic block, 9 internal magnetic block, 10 air pump, 11 air pressure regulating valve, 12 threaded tube, 13 screw, 14 drive box, 15 bearing, 16 limit block, 17 first gear, 18 second gear, 19 electromagnetic clutch, 20 transmission shaft, 21 crown gear, 22 drive motor. DETAILED DESCRIPTION

[0022] The present invention is further described in detail below in conjunction with the accompanying drawings and specific embodiments. The embodiments of the present invention are provided for the purpose of illustration and description, and are not intended to be exhaustive or to limit the present invention to the disclosed forms. Many modifications and variations are obvious to those of ordinary skill in the art. The embodiments are selected and described in order to better illustrate the principles and practical applications of the present invention, and to enable those of ordinary skill in the art to understand the present invention and thereby design various embodiments with various modifications suitable for specific purposes.

[0023] like Figure 1-5 A robotic arm position adjustment mechanism based on a cleaning robot is shown, comprising a robotic arm assembly for cleaning and a lateral position adjustment member located above the robotic arm mechanism, wherein clamping mechanisms for clamping and fixing the photovoltaic component are arranged at both ends of the lateral adjustment member, and the robotic arm assembly moves back and forth in a lateral direction above the photovoltaic component via the lateral adjustment member, and a robotic arm driving member is installed at the end of the robotic arm assembly, and the robotic arm driving member is used to drive the robotic arm assembly to clean the photovoltaic component and drive the robotic arm assembly to move back and forth in a longitudinal direction above the photovoltaic component.

[0024] Based on the above, the cleaning robot arm assembly slides back and forth above the photovoltaic component through the lateral adjustment member and the robot arm driving member, so as to realize the lateral and longitudinal movement of the robot arm assembly and perform cleaning operations on the surface of the photovoltaic component;

[0025] Furthermore, the robot arm assembly is clamped at the edges of both sides of the photovoltaic component by clamping mechanisms at both ends. After being clamped and fixed, the robot arm assembly moves back and forth to clean the surface of the photovoltaic component, and the clamping mechanism part does not move before the cleaning operation is completed. The robot arm assembly part moves back and forth to achieve position adjustment. Compared with the method of moving on the surface of the photovoltaic component by traveling wheels and adjusting by multiple motors, this method is more stable during the cleaning operation, has a smaller impact on the surface of the photovoltaic component, and improves practicality.

[0026] The mechanical arm assembly comprises a cleaning roller 1 attached to the surface of the photovoltaic element and a roller frame 2 located above the cleaning roller 1 , and both ends of the cleaning roller 1 are movably mounted on the roller frame 2 via a rotating shaft.

[0027] When the robot arm assembly moves laterally and longitudinally through the lateral adjustment member and the robot arm driving member, the cleaning roller 1 rotates on the roller frame 2 through the rotating shaft, moves back and forth on the surface of the photovoltaic component, and cleans the surface of the photovoltaic component.

[0028] The lateral position adjustment member includes an air pipe 3 placed horizontally above the roller frame 2. Both ends of the air pipe 3 are clamped and fixed on the photovoltaic component by a clamping mechanism. A piston 4 that slides back and forth is arranged inside the air pipe 3. A lateral slider 5 that slides back and forth is sleeved on the outside of the air pipe 3 located outside the piston 4.

[0029] The transverse slider 5 is provided with a through hole 6 having a diameter larger than the outer diameter of the trachea 3. A plurality of rotatable balls 7 are embedded on the inner wall of the through hole 6. The balls 7 are attached to the outer wall of the trachea 3. The transverse slider 5 slides back and forth outside the trachea 3 through the balls 7. The balls 7 can reduce the friction between the transverse slider 5 and the trachea 3, so that the transverse slider 5 can slide more smoothly outside the trachea 3.

[0030] External magnetic blocks 8 are embedded at both ends of the transverse slider 5, and internal magnetic blocks 9 cooperating with the external magnetic blocks 8 are embedded inside the piston 4;

[0031] Based on the above, the outer magnetic block 8 and the inner magnetic block 9 are both neodymium magnets with strong magnetic force. The adsorption effect of the outer magnetic block 8 and the inner magnetic block 9 is utilized to make the transverse slider 5 be located on the outer wall of the trachea 3 outside the piston 4. When the piston 4 moves back and forth inside the trachea 3, the adsorption force between the neodymium magnets is utilized to pull the transverse slider 5 to slide back and forth on the outer wall of the trachea 3 through the ball 7.

[0032] An air pump 10 is connected to one end of the air pipe 3 through a pipeline, and an air pressure regulating valve 11 is installed at the other end of the air pipe 3;

[0033] Among them, the air pump 10 is fixed on the outside of the clamping mechanism. When working, the air pump 10 is used to change the air pressure on both sides of the piston 4 in the air pipe 3, driving the piston 4 to slide back and forth in the air pipe 3. The air pressure regulating valve 11 adjusts the air pressure on the other side of the piston 4, so that the horizontal slider 5 is driven to slide back and forth on the air pipe 3 during the movement of the piston 4.

[0034] A threaded tube 12 is fixed at the bottom of the transverse slide block 5 .

[0035] The robot arm driving component includes a screw 13 inserted into the threaded tube 12 and a driving box 14 located at one end of the roller frame 2. A bearing 15 with a fixed position is also sleeved on the outside of the screw 13. The bottom of the bearing 15 is fixed to the top of the roller frame 2. A limit block 16 is provided on the top of the bearing 15 to fit with the bottom of the transverse slider 5.

[0036] The screw 13 and the rotating shaft at the end of the cleaning roller 1 extend into the interior of the driving box 14, a first gear 17 is installed at the end of the screw 13, a second gear 18 is installed at the end of the rotating shaft, an electromagnetic clutch 19 fixed to the end of the roller frame 2 is arranged between the first gear 17 and the second gear 18, a transmission shaft 20 is connected to the electromagnetic clutch 19, a crown tooth 21 is installed at the top and bottom of the transmission shaft 20, and the upper and lower crown teeth 21 are respectively meshed and connected with the first gear 17 and the second gear 18.

[0037] A driving motor 22 is also installed in the driving box 14 , and the end of the output shaft of the driving motor 22 is connected to the rotating shaft at the end of the cleaning roller 1 .

[0038] On the basis of the above, the bearing 15 is fixedly installed on the top of the roller frame 2, the threaded tube 12 is fixedly installed on the bottom of the transverse slider 5, and the screw 13 penetrates the bearing 15 and the threaded tube 12 to connect the transverse slider 5 and the roller frame 2. When the transverse slider 5 moves back and forth on the air pipe 3, it will drive the roller frame 2 and the cleaning roller 1 to move horizontally, thereby realizing the horizontal movement of the robot arm assembly;

[0039] Furthermore, the drive motor 22 is a motor capable of forward and reverse rotation;

[0040] Based on the above, when the driving motor 22 is working, the cleaning roller 1 can be driven to rotate on the roller frame 2 directly through the rotating shaft at the end of the output shaft, and the surface of the photovoltaic element can be cleaned by the rotating cleaning roller 1;

[0041] Based on the above, when the driving motor 22 drives the rotating shaft to rotate, the second gear 18 on the outer wall of the rotating shaft can drive the first gear 17 to rotate through the crown gear 21, the electromagnetic clutch 19 and the transmission shaft 20, so that the screw 13 rotates in the threaded tube 12, and the limit block 16 is arranged on the top of the bearing 15 to fit the bottom of the horizontal slider 5. When the screw 13 rotates in the threaded tube 12, it will drive the roller frame 2 and the cleaning roller 1 part to move longitudinally along the extension direction of the screw 13, so as to realize the longitudinal position adjustment of the mechanical arm assembly;

[0042] Furthermore, when only the robotic arm assembly is required to move laterally and the cleaning roller 1 is required to work, the electromagnetic clutch 19 can be controlled to disconnect the two crown teeth 21 above and below the transmission shaft 20, so that the first gear 17 will not drive the second gear 18, so that the cleaning roller 1 will not drive the screw 13 to rotate when it rotates.

[0043] On the basis of the above, the longitudinal movement of the robot arm assembly and the drive of the cleaning roller 1 are controlled by a single drive motor 22, while the lateral movement of the robot arm assembly is achieved through components such as the air pipe 3 and the piston 4. Combined with the fixed clamping method, the overall size of the cleaning robot is reduced, the weight is lighter, the production cost is reduced, the failure rate is lower during operation, and the impact on the surface of the photovoltaic component is smaller.

[0044] Obviously, the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field and related fields without creative work should fall within the scope of protection of the present invention. Structures, devices and operating methods not specifically described and explained in the present invention shall be implemented according to conventional means in the field unless otherwise specified and limited.

Claims

1. A mechanical arm position adjustment mechanism based on a cleaning robot, characterized in that: It includes a robotic arm assembly for cleaning and a lateral position adjustment member located above the robotic arm mechanism. Clamping mechanisms for clamping and fixing the photovoltaic component are arranged at both ends of the lateral adjustment member. The robotic arm assembly moves back and forth in the lateral direction above the photovoltaic component through the lateral adjustment member. A robotic arm driving member is installed at the end of the robotic arm assembly. The robotic arm driving member is used to drive the robotic arm assembly to clean the photovoltaic component and drive the robotic arm assembly to move back and forth in the longitudinal direction above the photovoltaic component.

2. A mechanical arm position adjustment mechanism based on a cleaning robot according to claim 1, characterized in that: The mechanical arm assembly comprises a cleaning roller attached to the surface of the photovoltaic component and a roller frame located above the cleaning roller, and both ends of the cleaning roller are movably mounted on the roller frame through a rotating shaft.

3. A mechanical arm position adjustment mechanism based on a cleaning robot according to claim 2, characterized in that: The lateral position adjustment member includes an air pipe placed horizontally above the roller frame, both ends of the air pipe are clamped and fixed on the photovoltaic component by a clamping mechanism, a piston that slides back and forth is arranged inside the air pipe, and a lateral sliding block that slides back and forth is sleeved outside the air pipe located outside the piston.

4. A mechanical arm position adjustment mechanism based on a cleaning robot according to claim 3, characterized in that: A through hole with a diameter larger than the outer diameter of the trachea is provided inside the transverse slider, and a plurality of rotatable balls are embedded on the inner wall of the through hole. The balls are attached to the outer wall of the trachea, and the transverse slider slides back and forth outside the trachea through the balls.

5. The mechanical arm position adjustment mechanism based on the cleaning robot according to claim 3, characterized in that: External magnetic blocks are embedded at both ends of the transverse slider, and internal magnetic blocks matching the external magnetic blocks are embedded inside the piston; An air pump is connected to one end of the air pipe through a pipeline, and an air pressure regulating valve is installed at the other end of the air pipe; A threaded pipe is fixed at the bottom of the transverse slider.

6. A mechanical arm position adjustment mechanism based on a cleaning robot according to claim 5, characterized in that: The robot arm driving component includes a screw rod inserted into the threaded tube and a driving box located at one end of the roller frame. A fixed bearing is also sleeved on the outside of the screw rod. The bottom of the bearing is fixed to the top of the roller frame. A limit block is provided on the top of the bearing to fit the bottom of the horizontal slider.

7. A mechanical arm position adjustment mechanism based on a cleaning robot according to claim 6, characterized in that: The rotating shafts at the ends of the screw and the cleaning roller extend into the interior of the driving box, a first gear is installed at the end of the screw, a second gear is installed at the end of the rotating shaft, an electromagnetic clutch fixed to the end of the roller frame is arranged between the first gear and the second gear, a transmission shaft is connected to the electromagnetic clutch, a crown tooth is installed at the top and bottom ends of the transmission shaft, and the upper and lower crown teeth are respectively meshed and connected with the first gear and the second gear.

8. The mechanical arm position adjustment mechanism based on the cleaning robot according to claim 7, characterized in that: A driving motor is also installed in the driving box, and the end of the output shaft of the driving motor is connected to the rotating shaft at the end of the cleaning roller.

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