Automatic chain tightening structure and cleaning robot

Abstract

The utility model belongs to the field of cleaning robots, and discloses an automatic chain tightening structure and a cleaning robot, and the automatic chain tightening structure comprises a guide assembly, a limiting connecting piece and an elastic telescopic mechanism; the guide assembly is installed on the cleaning robot body and provided with a guide limiting hole, and the chain penetrates through the guide limiting hole. The limiting connecting piece is connected to the end, penetrating through the guide limiting hole, of the chain. The elastic telescopic mechanism is mounted on the cleaning robot body, and the elastic telescopic mechanism and the guide limiting hole are arranged at intervals; the elastic telescopic mechanism is located on the transverse side of the guide assembly, and the movable end of the elastic telescopic mechanism is connected to the limiting connecting piece so that the limiting connecting piece can move between the elastic telescopic mechanism and the guide limiting hole. And under the action of the elastic telescopic mechanism, the chain is in a tightened state, so that the phenomena of winding, knotting and the like of the chain are effectively prevented, a certain buffering effect can be provided in the movement process of the mechanical arm, and stable operation of the cleaning robot is guaranteed.

Description

Technical Field

[0001] The utility model belongs to the technical field of cleaning robots, and more specifically, relates to a chain automatic tightening structure and a cleaning robot. Background Art

[0002] With the rapid development of the photovoltaic industry, the operation and maintenance management of photovoltaic power stations has become an increasingly important topic. As the core component of a photovoltaic power station, the cleanliness of photovoltaic panels directly affects the power generation efficiency and overall performance. The traditional manual cleaning method is not only inefficient but also costly, especially in large-scale photovoltaic power stations, this problem is particularly prominent. Therefore, the research and application of automated cleaning technology are particularly important.

[0003] Currently, a variety of photovoltaic panel cleaning robots have emerged on the market. Most of these robots perform cleaning operations by walking autonomously or attaching to photovoltaic modules. However, in complex terrains or large-scale photovoltaic arrays, the operation range and capabilities of a single cleaning robot are limited, and it is necessary to cooperate with an unmanned operation and maintenance vehicle for collaborative operation. The unmanned operation and maintenance vehicle is equipped with a robotic arm, which is connected to the cleaning robot through a chain or wire rope to achieve the deployment and recovery of the cleaning robot on the photovoltaic panel, becoming an efficient and flexible solution.

[0004] However, since photovoltaic power stations are usually built in areas with complex ground conditions and uneven terrain, the unmanned operation and maintenance vehicle will inevitably shake during driving. This shaking is transmitted to the cleaning robot through the robotic arm and the chain, which not only affects the cleaning effect but may also cause damage to the robot and the photovoltaic panel. Especially when the chain is released with enough slack to offset the shaking of the unmanned operation and maintenance vehicle and the robotic arm, the redundant part of the chain is prone to losing control, resulting in phenomena such as entanglement and knotting. In severe cases, it may even entangle the cleaning robot or hit the photovoltaic panel, causing equipment damage or damage to the photovoltaic panel and resulting in unnecessary economic losses. Summary of the Utility Model

[0005] The purpose of the embodiments of this application is to provide a chain automatic tightening structure and a cleaning robot to solve the technical problem in the prior art that the redundant part of the chain connected to the cleaning robot is not easy to control and is prone to entanglement and knotting.

[0006] To achieve the above purpose, the technical solution adopted in this application is:

[0007] Provide a chain automatic tightening structure, including:

[0008] A guiding component, installed on the cleaning robot body, the guiding component has a guiding limit hole, and the chain passes through the guiding limit hole;

[0009] A limit connecting piece, connected to the end of the chain passing through the guiding limit hole;

[0010] The elastic telescopic mechanism is installed on the cleaning robot body and is arranged at an interval from the guiding and limiting hole. The elastic telescopic mechanism is located on the lateral side of the guiding assembly. The movable end of the elastic telescopic mechanism is connected to the limiting connecting piece so that the limiting connecting piece can move between the elastic telescopic mechanism and the guiding and limiting hole.

[0011] As a further improvement of the above technical solution:

[0012] Optionally, the elastic telescopic mechanism includes a spring retractor and a first mounting seat. The first mounting seat is connected to the cleaning robot body. The spring retractor is installed on the first mounting seat and is arranged at an interval from the guiding and limiting hole. The movable end of the spring retractor expands and contracts laterally.

[0013] Optionally, the spring retractor includes a housing, a spring and a traction rope. The housing is installed on the first mounting seat. The spring is installed in the housing and one end of the spring is connected to the housing. The other end of the spring is connected to the traction rope. The traction rope is connected to the limiting connecting piece.

[0014] Optionally, the limiting connecting piece is a spherical limiting connecting piece, and the diameter of the spherical limiting connecting piece is larger than the diameter of the guiding and limiting hole.

[0015] Optionally, the guiding assembly includes a limiting plate and a second mounting seat. The guiding and limiting hole is arranged on the limiting plate. The limiting plate is installed on the second mounting seat. The second mounting seat is installed on the cleaning robot body; the second mounting seat also has a receiving space for receiving a chain.

[0016] Optionally, the initial tension of the elastic telescopic mechanism is less than the gravity of the cleaning robot body.

[0017] This application also provides a cleaning robot, including a cleaning robot body and the above-mentioned chain automatic tightening structure.

[0018] As a further improvement of the above technical solution:

[0019] Optionally, the number of the chain automatic tightening structures corresponds to the number of the chains for hoisting the cleaning robot body.

[0020] Compared with the prior art, the beneficial effects of the present utility model are:

[0021] The chain automatic tightening structure provided by the present application includes a guiding component, a limiting connecting piece, and an elastic telescopic mechanism. Among them, the guiding component is installed on the cleaning robot body. The guiding component has a guiding and limiting hole, and the chain passes through the guiding and limiting hole. The guiding component is used to achieve a smooth transition and guiding of the chain from vertical extension to horizontal extension. The limiting connecting piece is connected to the end of the chain passing through the guiding and limiting hole. The limiting connecting piece serves to connect the chain and the elastic telescopic mechanism. The elastic telescopic mechanism is also installed on the cleaning robot body and is arranged at an interval from the guiding and limiting hole. The elastic telescopic mechanism is located on the lateral side of the guiding component. The movable end of the elastic telescopic mechanism is connected to the limiting connecting piece, so that the limiting connecting piece moves between the elastic telescopic mechanism and the guiding and limiting hole, that is, the end of the chain is pulled to move between the elastic telescopic mechanism and the guiding and limiting hole. Under the action of the elastic telescopic mechanism, the chain can always be kept in a moderately taut state, effectively preventing phenomena such as chain entanglement and knotting, and providing a certain buffering effect during the movement of the robotic arm, reducing the direct impact of the vibration caused by the shaking of the robotic arm on the cleaning robot body, and ensuring the stable operation of the cleaning robot.

[0022] The cleaning robot provided by the present application includes a cleaning robot body and the above-mentioned chain automatic tightening structure, and also has the advantages of the above-mentioned chain automatic tightening structure. Description of the Drawings

[0023] In order to more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the following will briefly introduce the drawings required for use in the description of the embodiments or the prior art. Obviously, the following drawings are some embodiments of the present invention. For those of ordinary skill in the art, without creative efforts, other drawings can also be obtained based on these drawings.

[0024] Figure 1 is a schematic three-dimensional structure diagram of the cleaning robot of the present application;

[0025] Figure 2 is a schematic front view structure diagram of the chain automatic tightening structure of the present application;

[0026] Figure 3 is a schematic enlarged partial structure diagram of the chain automatic tightening structure of the present application Figure 1 ;

[0027] Figure 4 is a schematic enlarged partial structure diagram of the chain automatic tightening structure of the present application Figure 2 .

[0028] Among them, the reference numerals in the drawings are as follows:

[0029] 1. Guiding component; 11. Guiding and limiting hole;

[0030] 12. Limit plate; 13. Second mounting seat;

[0031] 2. Cleaning robot body; 3. Chain;

[0032] 4. Limit connecting piece; 5. Elastic telescopic mechanism;

[0033] 51. Spring winder; 511. Towing rope;

[0034] 52. First mounting seat. Detailed implementation mode

[0035] In order to make the technical problems, technical solutions and beneficial effects to be solved by this application clearer, the following further details this application in conjunction with the drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain this application and are not used to limit this application.

[0036] It should be noted that when an element is referred to as "fixed to" or "disposed on" another element, it can be directly on the other element or indirectly on the other element. When an element is referred to as "connected to" another element, it can be directly connected to the other element or indirectly connected to the other element.

[0037] It should be understood that the orientation or positional relationship indicated by the terms "length", "width", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc. is based on the orientation or positional relationship shown in the drawings, and is only for the convenience of describing this application and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be construed as a limitation to this application.

[0038] In addition, the terms "first" and "second" are only used for descriptive purposes and cannot be understood as indicating or implying relative importance or implicitly indicating the quantity of the indicated technical features. Thus, the features defined with "first" and "second" may explicitly or implicitly include one or more of such features. In the description of this application, "a plurality" means two or more, unless otherwise specifically defined.

[0039] Unless otherwise defined, all professional terms used hereinafter have the same meaning as commonly understood by those skilled in the art. The professional terms used herein are only for the purpose of describing specific embodiments and are not intended to limit the protection scope of this utility model.

[0040] Such as Figure 1 And Figure 2As shown in the figure, the present application provides an automatic chain tightening structure, which includes a guiding component 1, a limiting connecting piece 4, and an elastic telescopic mechanism 5.

[0041] Among them, the guiding component 1 is installed on the cleaning robot body 2. The guiding component 1 has a guiding and limiting hole 11, and the chain 3 passes through the guiding and limiting hole 11. The guiding component 1 is used to achieve a smooth transition and guiding of the chain 3 from vertical extension to horizontal extension. The limiting connecting piece 4 is connected to the end of the chain 3 passing through the guiding and limiting hole 11. The limiting connecting piece 4 serves to connect the chain 3 and the elastic telescopic mechanism 5.

[0042] The elastic telescopic mechanism 5 is also installed on the cleaning robot body 2 and is arranged at an interval from the guiding and limiting hole 11. The elastic telescopic mechanism 5 is located on the lateral side of the guiding component 1. The movable end of the elastic telescopic mechanism 5 is connected to the limiting connecting piece 4, so that the limiting connecting piece 4 can move between the elastic telescopic mechanism 5 and the guiding and limiting hole 11, that is, the end of the chain 3 is pulled to move between the elastic telescopic mechanism 5 and the guiding and limiting hole 11. Under the action of the elastic telescopic mechanism 5, the chain 3 can always be kept in a moderately taut state, which not only effectively prevents phenomena such as winding and knotting of the chain 3, but also provides a certain buffering effect during the movement of the robotic arm, reducing the direct impact of the vibration caused by the shaking of the robotic arm on the cleaning robot body 2 and ensuring the stable operation of the cleaning robot.

[0043] In an embodiment of the present application, the elastic telescopic mechanism 5 includes a spring retractor 51 and a first mounting seat 52. Among them, the first mounting seat 52 is connected to the cleaning robot body 2. The spring retractor 51 is installed on the first mounting seat 52 and is arranged at an interval from the guiding and limiting hole 11. The movable end of the spring retractor 51 expands and contracts horizontally. Under the elastic traction of the spring retractor 51, the position of the end of the chain 3 is horizontally adjusted between the spring retractor 51 and the guiding and limiting hole 11, so as to realize the dynamic control of the tension degree of the chain 3.

[0044] In an embodiment of the present application, the spring retractor 51 includes a housing, a spring (not shown in the figure), and a traction rope 511. Among them, the housing serves as a protective shell of the spring retractor 51 and is installed on the first mounting seat 52. The spring is placed in the housing. One end of the spring is connected to the housing, and the other end of the spring is connected to the traction rope 511. Within the elastic deformation range of the spring, the spring can elastically drive the traction rope 511 to contract. The traction rope 511 is connected to the limiting connecting piece 4. When the external force on the limiting connecting piece 4 is greater than the elastic force of the spring, the traction rope 511 extends; when the external force on the limiting connecting piece 4 is less than the elastic force of the spring, the traction rope 511 retracts.

[0045] In one embodiment of the present application, the limiting connecting member 4 is a spherical limiting connecting member, and the diameter of the spherical limiting connecting member is greater than the diameter of the guiding limiting hole 11, thereby preventing the spherical limiting connecting member from passing through the physical barrier of the guiding limiting hole 11, so as to ensure the effectiveness and reliability of the limiting function. Under the limiting action of the spherical limiting connecting member, it is possible to prevent the stretching length of the spring stretcher 51 from being too long, which may cause damage or failure of the spring stretcher 51. In addition, when it is necessary to lift the cleaning robot body 2, through the cooperation of the spherical limiting connecting member and the guiding limiting hole 11, the lifting force on the chain 3 is directly transmitted to the cleaning robot body 2 through the spherical limiting connecting member, without the spring stretcher 51 bearing the lifting load, which plays a protective role for the spring stretcher 51 and extends the service life of the spring stretcher 51.

[0046] In one embodiment of the present application, the guiding assembly 1 includes a limiting plate 12 and a second mounting seat 13. Specifically, the guiding limiting hole 11 is provided on the limiting plate 12, the limiting plate 12 is mounted on the second mounting seat 13, and the second mounting seat 13 is mounted on the cleaning robot body 2. In addition, the second mounting seat 13 also has a receiving space for receiving the chain 3.

[0047] In other embodiments, the limiting plate 12 can also be arranged on the first mounting seat 52, but it is still necessary to ensure that the guiding limiting hole 11 is spaced from the spring stretcher 51.

[0048] In one embodiment of the present application, the initial tension of the elastic telescopic mechanism 5 is less than the gravity of the cleaning robot body 2, so as to ensure that the elastic telescopic mechanism 5 can generate elastic deformation movement, thereby absorbing and alleviating the shaking and vibration on the robotic arm. On the contrary, if the initial tension of the elastic telescopic mechanism 5 is greater than the gravity of the cleaning robot body 2, the rigidity of the elastic telescopic mechanism 5 is too large, and the shaking and vibration on the robotic arm may be transmitted through the elastic telescopic mechanism 5 and act on the cleaning robot body 2 again.

[0049] The present application provides a cleaning robot, including a cleaning robot body 2 and the chain automatic tightening structure in the above embodiment. Since this cleaning robot has the chain automatic tightening structure in the above embodiment, it also has the advantages of the chain automatic tightening structure in the above embodiment.

[0050] In one embodiment of the present application, the number of the chain automatic tightening structures corresponds to the number of the chains 3 for hoisting the cleaning robot body 2. In addition, the chain automatic tightening structures need to be spaced apart from each other to disperse the stress points and reduce the occurrence of local stress concentration.

[0051] The above are only the preferred embodiments of the present application and are not intended to limit the present application. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principle of the present application shall be included within the protection scope of the present application.

Claims

1. A chain automatic tightening structure, characterized in that: include: A guide assembly (1) is mounted on a cleaning robot body (2), wherein the guide assembly (1) has a guide limit hole (11), and a chain (3) passes through the guide limit hole (11); A limiting connecting member (4) connected to the end of the chain (3) passing through the guide limiting hole (11); An elastic telescopic mechanism (5) is mounted on the cleaning robot body (2) and is spaced apart from the guide limit hole (11). The elastic telescopic mechanism (5) is located on one lateral side of the guide assembly (1). The movable end of the elastic telescopic mechanism (5) is connected to the limit connecting piece (4) so ​​that the limit connecting piece (4) can move between the elastic telescopic mechanism (5) and the guide limit hole (11).

2. The automatic chain tightening structure according to claim 1, characterized in that: The elastic telescopic mechanism (5) comprises a coil spring tensioner (51) and a first mounting seat (52), wherein the first mounting seat (52) is connected to the cleaning robot body (2), the coil spring tensioner (51) is mounted on the first mounting seat (52) and is spaced apart from the guide limit hole (11), and the movable end of the coil spring tensioner (51) is telescopic in the transverse direction.

3. The automatic chain tightening structure according to claim 2, characterized in that: The coil spring tensioner (51) comprises a housing, a coil spring and a traction rope (511); the housing is mounted on the first mounting seat (52); the coil spring is mounted in the housing and one end is connected to the housing; the other end of the coil spring is connected to the traction rope (511); and the traction rope (511) is connected to the limiting connector (4).

4. The automatic chain tightening structure according to any one of claims 1 to 3, characterized in that: The limiting connection piece (4) is a spherical limiting connection piece, and the diameter of the spherical limiting connection piece is greater than the diameter of the guide limiting hole (11).

5. The automatic chain tightening structure according to any one of claims 1 to 3, characterized in that: The guide assembly (1) comprises a limit plate (12) and a second mounting seat (13); the guide limit hole (11) is provided on the limit plate (12); the limit plate (12) is mounted on the second mounting seat (13); the second mounting seat (13) is mounted on the cleaning robot body (2); the second mounting seat (13) also has an accommodating space for accommodating a chain (3).

6. The automatic chain tightening structure according to any one of claims 1 to 3, characterized in that: The initial tension of the elastic telescopic mechanism (5) is smaller than the gravity of the cleaning robot body (2).

7. A cleaning robot, characterized in that: It comprises a cleaning robot body (2) and an automatic chain tightening structure as claimed in any one of claims 1 to 6.

8. The cleaning robot according to claim 7, characterized in that: The number of the automatic chain tightening structures corresponds to the number of chains (3) for hoisting the cleaning robot body (2).

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