Flexible putting tail end and flexible putting device for photovoltaic cleaning robot

Abstract

The utility model discloses a flexible putting tail end for a photovoltaic cleaning robot, which comprises a support and a flexible connecting mechanism, the flexible connecting mechanism comprises a chain and a driving mechanism used for driving the chain to retract or release, the driving mechanism is arranged on the support, and the flexible putting tail end is arranged on the support. The driving mechanism comprises a plurality of chain winches and driving sources used for driving the chain winches to rotate, the number of the driving sources is smaller than that of the chain winches, and at least one driving source is used for synchronously driving the chain winches to rotate. The utility model further provides a flexible putting device for the photovoltaic cleaning robot. According to the flexible throwing tail end, one driving source can synchronously drive a plurality of chain winches to rotate, the synchronous control difficulty of the chain winches is reduced, the synchronous control precision of the chain winches is improved, the number of the driving sources is reduced, and the material cost is saved.

Description

Technical Field

[0001] The utility model belongs to the technical field of photovoltaic cleaning robots, and particularly relates to a placement mechanism of a photovoltaic cleaning robot. Background Technique

[0002] With the rapid development of the photovoltaic industry in the new energy field, the operation and maintenance problems of photovoltaic power stations are becoming increasingly serious. Problems such as untimely cleaning and poor cleaning effect of photovoltaic power stations will seriously affect the power generation efficiency of the power stations and cause waste of resources. Due to the low efficiency, high labor cost, and untimely cleaning of manual cleaning, a large number of unmanned photovoltaic cleaning methods have emerged. One of the solutions is to use an unmanned driving chassis equipped with a robotic arm. The end of the robotic arm grabs and places a cleaning robot for cleaning operations. The end of the robotic arm is connected to the cleaning robot through a flexible connection method. To ensure the stability of the posture of the cleaning robot during placement, at least 3 chains or ropes are required. The advantages of this solution are few equipment, controllable maintenance, adaptable to various sites without the need for site transformation, capable of autonomous work all-weather, saving labor costs and time costs, and the flexible connection can ensure that the cleaning robot will not damage the photovoltaic panels during placement and recovery.

[0003] However, in the above solution, multiple flexibly connected chains are independently driven, and multiple sets of driving motors are required to drive them. When controlling, multiple driving motors need to act synchronously. This method wastes costs by using multiple sets of driving motors, and it is difficult to accurately control the synchronous action of multiple driving motors. Summary of the Utility Model

[0004] The technical problem to be solved by the utility model is to overcome the above-mentioned deficiencies and defects in the background technique, and provide a flexible placement end and a flexible placement device for a photovoltaic cleaning robot that are easy to operate, accurate, and low in cost.

[0005] To solve the above technical problem, the technical solution proposed by the utility model is:

[0006] A flexible placement end for a photovoltaic cleaning robot, comprising a bracket and a flexible connection mechanism. The flexible connection mechanism includes a chain and a driving mechanism for driving the chain to retract or release. The driving mechanism is arranged on the bracket. The driving mechanism includes a plurality of chain hoists and a driving source for driving the plurality of chain hoists to rotate. The number of driving sources is less than the number of chain hoists, and at least one driving source is used to synchronously drive the plurality of chain hoists to rotate.

[0007] In the above flexible delivery end, preferably, the driving source includes a driving component and a transmission component. The driving component is connected to the chain hoist through the transmission component, and at least one of the transmission components is used to synchronously drive a plurality of the chain hoists to rotate. One transmission component synchronously drives a plurality of chain hoists to rotate, reducing the number of transmission components, lowering the equipment cost, and improving the synchronous control accuracy of the chain hoists. The above driving component can adopt a driving motor, or other similar devices such as a hydraulic motor that can output rotational power.

[0008] In the above flexible delivery end, preferably, only one driving component is provided. One driving component is used to synchronously drive all the chain hoists to rotate through the transmission component. One driving component synchronously drives all the chain hoists to rotate through the transmission component. Only one driving component is provided, improving the usage efficiency of the driving component, while ensuring the synchronous rotation of the chain hoists, which is beneficial to improving the synchronous control accuracy of the chain hoists.

[0009] In the above flexible delivery end, preferably, only one driving component is provided. The transmission component includes a plurality of speed reducers. The driving component is connected to the input end of one of the speed reducers, and the plurality of speed reducers are connected to each other through a transmission shaft. The chain hoist is connected to the output end of the speed reducer. The speed reducer as the transmission component can reduce the driving force of the driving component and transmit it to the output end to drive the chain hoist to rotate, ensuring the effective transmission of the driving force. In the present utility model, one driving component is provided, which is connected to one speed reducer, and the plurality of speed reducers are connected to each other through a transmission shaft, so that one driving component can drive the chain hoist to rotate.

[0010] In the above flexible delivery end, preferably, only one driving component is provided, three chain hoists are provided, the transmission component includes a first worm and worm gear reducer and a second worm and worm gear reducer. The input end of the first worm and worm gear reducer is an input shaft extending outward at both ends. The driving component is connected to one end of the input shaft, and the other end of the input shaft is connected to the input end of the second worm and worm gear reducer through a transmission shaft. The output end of the first worm and worm gear reducer is provided with a first branch and a second branch, which are respectively connected to two chain hoists, and the output end of the second worm and worm gear reducer is connected to another chain hoist. Only one driving component is provided, and two reducers drive three chain hoists to rotate simultaneously, reducing the number of driving components and reducers. The driving forces of the three chain hoists are exactly the same, and they can move synchronously, reducing the operation difficulty of synchronous control of the chain hoists and improving the accuracy of synchronous control of the chain hoists. That is, the present invention uses 1 set of driving components (such as motors, hydraulic motors, etc.) to drive, and divides the power into 3 groups through two inexpensive worm and worm gear reducers to drive 3 chains respectively, which can reduce 2 groups of hydraulic motors and 2 groups of hydraulic valves, greatly reducing the material cost. At the same time, the 3 groups of chains move synchronously and can be completely synchronized without program control, reducing the control difficulty.

[0011] In the above flexible delivery end, preferably, a chain storage tube is provided at the chain hoist for storing the chain for retracting the chain hoist. The chain storage tube adopts a modular design, making the chain storage more tidy, avoiding the phenomenon of chain knotting and winding, and is more conducive to replacement and maintenance.

[0012] In the above flexible delivery end, preferably, one end of the chain storage tube is connected to the chain hoist, and an elastic cable device is provided at the other end of the chain storage tube for preventing the chain from accumulating in the chain storage tube. The elastic cable device can ensure the smooth movement of the chain in the chain storage tube during the retraction process, avoid the accumulation of the chain in the storage tube, and improve the reliability of chain storage.

[0013] In the above flexible delivery end, preferably, the elastic cable device includes a cable and an elastic cable device body for keeping the cable in a taut state. One end of the cable is connected to the chain, and the other end of the cable is connected to the elastic cable device body. The elastic cable device body can adjust the length of the cable at any time according to the state of the chain, thereby driving the chain to move smoothly in the storage tube, ensuring that the chain is in a taut state, and preventing the chain from accumulating in the storage tube.

[0014] As a general technical concept, the present utility model also provides a flexible delivery device for a photovoltaic cleaning robot, including a carrier vehicle, a robotic arm, and the above-mentioned flexible delivery end. The robotic arm is connected to the carrier vehicle, and the bracket of the flexible delivery end is connected to the robotic arm. The flexible delivery end of the present utility model can perform fine adjustment, reducing the precision requirements for the robotic arm, lowering the operation difficulty, achieving rapid delivery and retraction, and enhancing the reliability of the overall control structure.

[0015] In the present utility model, components such as the drive assembly, speed reducer, chain winch, and elastic wire device can all adopt existing conventional equipment, and the chain winch can adopt modular equipment.

[0016] Compared with the prior art, the advantages of the present utility model are as follows:

[0017] The flexible delivery end and the flexible delivery device for the photovoltaic cleaning robot of the present utility model are connected with at least one drive source to multiple chain winches, enabling one drive source to drive multiple chain winches to rotate synchronously, thereby controlling different chains to be retracted or released simultaneously. This reduces the number of drive sources, lowers the operation difficulty of synchronous control, improves the synchronous control precision, saves costs, reduces the weight at the end of the bracket, and enhances the structural reliability. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] In order to more clearly illustrate the technical solutions in the embodiments of the present utility model 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-described drawings are some embodiments of the present utility model. For those of ordinary skill in the art, without creative efforts, other drawings can also be obtained based on these drawings.

[0019] Figure 1 It is a schematic structural diagram of the flexible delivery end in the present utility model.

[0020] Figure 2 For Figure 1 the front view.

[0021] Figure 3 It is a schematic structural diagram of the flexible delivery end in the present utility model after omitting the bracket, chain storage tube, and elastic wire device.

[0022] Figure 4 For Figure 3 the top view.

[0023] Figure 5 It is a schematic structural diagram of the chain storage tube, chain winch, and elastic wire device of the flexible delivery end in the present utility model.

[0024] Figure 6 ForFigure 5 Cross-section view A-A

[0025] Legend Explanation

[0026] 1. Bracket; 2. Chain; 3. Chain winch; 4. Driving assembly; 5. Reducer; 51. First worm and worm gear reducer; 52. Second worm and worm gear reducer; 6. Transmission shaft; 7. Chain storage tube; 8. Elastic wire device Specific Embodiment

[0027] For the convenience of understanding the present utility model, the following will describe the present utility model more comprehensively and meticulously in conjunction with the accompanying drawings of the specification and preferred embodiments, but the protection scope of the present utility model is not limited to the following specific embodiments

[0028] It should be particularly noted that when a certain element is described as "fixed to, fixedly connected to, connected to or communicated with" another element, it can be directly fixed, fixedly connected, connected or communicated to the other element, or indirectly fixed, fixedly connected, connected or communicated to the other element through other intermediate connecting members

[0029] 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 the present utility model

[0030] Unless otherwise specifically stated, various raw materials, reagents, instruments and equipment used in the present utility model can be obtained through market purchase or can be prepared by existing methods

[0031] Embodiment

[0032] The flexible delivery end for a photovoltaic cleaning robot in this embodiment includes a bracket 1 and a flexible connection mechanism. The flexible connection mechanism includes a chain 2 and a driving mechanism for driving the chain 2 to retract or release. The driving mechanism is arranged on the bracket 1. The driving mechanism includes a plurality of chain winches 3 and a driving source for driving the plurality of chain winches 3 to rotate. The number of driving sources is less than the number of chain winches 3, and at least one driving source is used to synchronously drive the plurality of chain winches 3 to rotate

[0033] In this embodiment, the driving source includes a driving assembly 4 and a transmission assembly. The driving assembly 4 is connected to the chain winch 3 through the transmission assembly, and at least one transmission assembly is used to synchronously drive the plurality of chain winches 3 to rotate

[0034] In this embodiment, only one driving assembly 4 is provided. One driving assembly 4 is used to synchronously drive all the chain winches 3 to rotate through the transmission assembly

[0035] In this embodiment, only one driving component 4 is provided. The transmission component includes multiple speed reducers 5. The driving component 4 is connected to the input end of one of the speed reducers 5, and the multiple speed reducers 5 are connected to each other through a transmission shaft 6. The chain hoist 3 is connected to the output end of the speed reducer 5.

[0036] As Figures 1-4 shown, this embodiment provides a structure of the flexible delivery end with a specific structural form, which is as follows:

[0037] In this embodiment, only one driving component 4 is provided, and three chain hoists 3 are provided. The transmission component includes a first worm and worm gear speed reducer 51 and a second worm and worm gear speed reducer 52. The input end of the first worm and worm gear speed reducer 51 is an input shaft extending outward at both ends. The driving component 4 is connected to one end of the input shaft, and the other end of the input shaft is connected to the input end of the second worm and worm gear speed reducer 52 through a transmission shaft 6. The output end of the first worm and worm gear speed reducer 51 is provided with a first branch and a second branch, which are respectively connected to two chain hoists 3, and the output end of the second worm and worm gear speed reducer 52 is connected to another chain hoist 3.

[0038] In this embodiment, one end of the input shaft of the first worm and worm gear speed reducer 51 receives the power of the driving component 4, and the other end can also output this power to the transmission shaft 6 to provide power to another second worm and worm gear speed reducer 52. The rotational speeds at both ends of the input shaft of the first worm and worm gear speed reducer 51 are the same. The output end of the first worm and worm gear speed reducer 51 is respectively connected to two chain hoists 3. To facilitate power output, transmission parts can be provided, and the output powers of the first branch and the second branch at the output end of the first worm and worm gear speed reducer 51 are the same. In this embodiment, both the first worm and worm gear speed reducer 51 and the second worm and worm gear speed reducer 52 can adopt equipment produced by Wuxi Yingpuluo Transmission Co., Ltd. The models of the first worm and worm gear speed reducer 51 and the second worm and worm gear speed reducer 52 can be NRV50-10-VS and NRV50-10 respectively. In this embodiment, the driving component 4 can adopt devices such as motors and hydraulic motors that can output rotational power.

[0039] The above drawings only show a case of using one driving component 4 and three chain hoists 3. It is also possible to use a case of one driving component 4 and four chain hoists 3 or more chain hoists 3. It is also possible to use a case of two driving components 4 and three chain hoists 3. At this time, the distribution of the three chain hoists 3 can be the same as that in the above drawings. One driving component 4 is provided on each of the left and right sides, and the transmission shaft 6 between adjacent speed reducers can be cancelled. In addition, it is also possible to use a case of two driving components 4 and four chain hoists 3, etc. Only adaptive adjustments need to be made on the basis of the above drawings.

[0040] As Figure 5 and Figure 6As shown in the figure, in this embodiment, a chain storage tube 7 for storing the chain 2 for retracting the chain hoist 3 is provided at the chain hoist 3.

[0041] In this embodiment, one end of the chain storage tube 7 is connected to the chain hoist 3, and an elastic cable device 8 for preventing the chain 2 from accumulating in the chain storage tube 7 is provided at the other end of the chain storage tube 7.

[0042] In this embodiment, the elastic cable device 8 includes a cable and an elastic cable device body for keeping the cable in a taut state. One end of the cable is connected to the chain 2, and the other end of the cable is connected to the elastic cable device body.

[0043] The flexible delivery device for a photovoltaic cleaning robot in this embodiment includes a carrier vehicle, a robotic arm, and the above-mentioned flexible delivery end. The robotic arm is connected to the carrier vehicle, and the bracket 1 of the flexible delivery end is connected to the robotic arm.

[0044] The above are only the preferred embodiments of the present invention and are not used to limit the present invention. For those skilled in the art, various modifications and changes can be made to the present invention. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included within the protection scope of the present invention.

Claims

1. A flexible delivery end for a photovoltaic cleaning robot, comprising a bracket (1) and a flexible connection mechanism, wherein the flexible connection mechanism comprises a chain (2) and a driving mechanism for driving the chain (2) to retract or release, wherein the driving mechanism is arranged on the bracket (1), and the driving mechanism comprises a plurality of chain winches (3) and a driving source for driving the plurality of chain winches (3) to rotate, wherein: The number of the driving sources is less than the number of the chain winches (3), and at least one of the driving sources is used to synchronously drive a plurality of the chain winches (3) to rotate.

2. The flexible delivery terminal according to claim 1, characterized in that: The driving source comprises a driving component (4) and a transmission component, the driving component (4) is connected to the chain winch (3) via the transmission component, and at least one of the transmission components is used to synchronously drive a plurality of the chain winches (3) to rotate.

3. The flexible delivery terminal according to claim 2, characterized in that: Only one driving assembly (4) is provided, and the one driving assembly (4) is used to synchronously drive all the chain winches (3) to rotate through the transmission assembly.

4. The flexible delivery terminal according to claim 2, characterized in that: Only one drive assembly (4) is provided, and the transmission assembly comprises a plurality of reducers (5). The drive assembly (4) is connected to the input end of one of the reducers (5), the plurality of reducers (5) are connected to each other via a transmission shaft (6), and the chain winch (3) is connected to the output end of the reducer (5).

5. The flexible delivery terminal according to claim 2, characterized in that: Only one driving assembly (4) is provided, and three chain winches (3) are provided. The transmission assembly comprises a first worm gear reducer (51) and a second worm gear reducer (52). The input end of the first worm gear reducer (51) is an input shaft with two ends extending outwards. The driving assembly (4) is connected to one end of the input shaft. The other end of the input shaft is connected to the input end of the second worm gear reducer (52) through a transmission shaft (6). The output end of the first worm gear reducer (51) is provided with a first branch and a second branch, which are respectively connected to two chain winches (3). The output end of the second worm gear reducer (52) is connected to another chain winch (3).

6. The flexible delivery terminal according to any one of claims 1 to 5, characterized in that: The chain winch (3) is provided with a chain storage tube (7) for storing the chain (2) retracted by the chain winch (3).

7. The flexible delivery terminal according to claim 6, characterized in that: One end of the chain storage tube (7) is connected to the chain winch (3), and the other end of the chain storage tube (7) is provided with an elastic wire pulling device (8) for preventing the chain (2) from piling up in the chain storage tube (7).

8. The flexible delivery terminal according to claim 7, characterized in that: The elastic wire pulling device (8) comprises a wire pulling device and a body of the elastic wire pulling device (8) for keeping the wire pulling device in a taut state, one end of the wire pulling device is connected to the chain (2), and the other end of the wire pulling device is connected to the body of the elastic wire pulling device (8).

9. A flexible delivery device for a photovoltaic cleaning robot, characterized in that: It comprises a carrier vehicle, a mechanical arm and the flexible delivery terminal according to any one of claims 1 to 8, wherein the mechanical arm is connected to the carrier vehicle, and the bracket (1) of the flexible delivery terminal is connected to the mechanical arm.

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