Flexible hoisting device for photovoltaic cleaning robot

Abstract

The utility model discloses a flexible hoisting device for a photovoltaic cleaning robot, which comprises a plurality of chains and an annular conveying chain for simultaneously driving the plurality of chains to retract and release, and a driving source for driving the annular conveying chain to rotate is arranged on the annular conveying chain. One ends of the chains are fixedly arranged at different positions of the annular conveying chain through fixing devices respectively, so that synchronous movement of the chains and the annular conveying chain is realized. According to the flexible hoisting device, only one driving source is adopted to drive the annular conveying chain to drive the multiple chains to move at the same time, an original hoisting structure is simplified, the operation difficulty of chain synchronous control is lowered, and cost is saved; besides, the chain of the flexible hoisting device is fixedly arranged on the annular conveying chain through the fixing device, and the chain can be kept in a straight state at any time, so that the problems of accumulation and winding of the chain are avoided, and the problem that the chain is stuck is solved fundamentally.

Description

Technical Field

[0001] The utility model belongs to the field of photovoltaics, and particularly relates to a placing device for a photovoltaic cleaning robot. Background Art

[0002] With the rapid development of the photovoltaic industry, more and more photovoltaic power stations have been built. The operation and maintenance of photovoltaic power stations have also been paid more and more attention, especially the cleanliness of photovoltaic panels. At present, centralized power stations are the mainstream in China and are mostly distributed in the western regions rich in light energy. During the use of photovoltaic panels, dust, dirt, or blowing sand will cover the surface of the photovoltaic panels. Over time, this will affect the light transmittance of the photovoltaic panels and thus reduce the power generation efficiency. Currently, the common robot cleaning method is to connect rows of adjacent photovoltaic panels through an installed bridge and hang the photovoltaic cleaning robot on it for work, and generally it is not taken down. Another method is to use a flexible connection method. After the cleaning robot finishes cleaning one row, it is lifted and then transported to the next row by a transfer vehicle for continuous cleaning.

[0003] The common flexible connection method is to use three chains to connect the cleaning robot and the robotic arm to realize the placing and recycling of the cleaning robot. However, using three chains requires three hydraulic motors to connect the relevant winding and unwinding mechanisms, which not only has a complex structure and high cost, but also has a large operation difficulty in synchronously controlling the three chains. Moreover, due to the manufacturing process of the chains, there are protrusions on the surface of the chains, and when the chains are wound and unwound, jamming phenomena will occur. In addition, due to the twisting and entanglement of the chains or the accumulation in the storage box, the winding and unwinding of the chains cannot proceed smoothly. 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 art and provide a flexible hoisting device for a photovoltaic cleaning robot with simple operation, simple and reliable structure, and low cost.

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

[0006] A flexible hoisting device for a photovoltaic cleaning robot, comprising a plurality of chains and an endless conveyor chain for simultaneously driving the winding and unwinding of the plurality of chains. A driving source for driving the rotation of the endless conveyor chain is provided on the endless conveyor chain. One ends of the plurality of chains are respectively fixed to different positions of the endless conveyor chain through fixing devices to realize the synchronous movement of the plurality of chains and the endless conveyor chain.

[0007] In the above flexible hoisting device for a photovoltaic cleaning robot, preferably, there are a pair of chains, the endless conveyor chain is driven by a pair of horizontally arranged sprockets, and one ends of the pair of chains are respectively fixed to the upper and lower surfaces of the endless conveyor chain through the fixing devices.

[0008] When the sprocket drives the annular conveyor chain to move, the conveyor chains in the upper and lower parts move in the opposite directions at the same frequency. Correspondingly, a pair of chains fixed on the upper and lower surfaces of the annular conveyor chain move synchronously along with the movement of the annular conveyor chain. That is, through the movement of the annular conveyor chain, synchronous driving of the pair of chains to move at the same frequency is achieved.

[0009] In the above-mentioned flexible hoisting device of the photovoltaic cleaning robot, preferably, the driving source includes a driving motor and a speed reducer. The output end of the driving motor is connected to the input end of the speed reducer, and the output end of the speed reducer is connected to a sprocket.

[0010] The driving motor can adopt conventional equipment in the prior art, such as a hydraulic motor, etc. The speed reducer can reduce the power provided by the driving motor and then transmit it to the connected sprocket, that is, drive the driving sprocket to operate. When the driving sprocket operates, the engagement of the chain links and the sprocket teeth drives the driven sprocket to rotate and transmits motion and power, thereby realizing the rotation of a driving mechanism to synchronously drive the entire conveying device to rotate.

[0011] In the above-mentioned flexible hoisting device of the photovoltaic cleaning robot, preferably, it further includes a main beam. The annular conveyor chain is arranged inside the main beam, and openings for the chains to pass through are formed on the main beam.

[0012] The main beam plays a role in protecting the annular conveyor chain, avoiding the structural failure of the annular conveyor chain caused by direct exposure of the annular conveyor chain to rain, dust, etc. (such as transmission blockage caused by rust of the annular conveyor chain), improving the service life of the annular conveyor chain and the reliability of the annular conveyor chain transmission. Openings for the chains to pass through are formed on the main beam, which is conducive to the smooth retraction and release of the chains. In addition, the main beam can be connected to the robotic arm through a docking plate arranged at its upper end.

[0013] In the above-mentioned flexible hoisting device of the photovoltaic cleaning robot, preferably, roller assemblies for the rolling release or rolling retraction of the chains are arranged at the openings of the main beam.

[0014] Arranging roller assemblies at the openings through which the chains pass changes the original movement trajectory of the chains, enabling the chains that translate in the storage box to perform vertical movement. At the same time, the way of retracting and releasing the chains changes from the original sliding retraction and release to the current rolling retraction and release, and the friction between the chains and the main beam also changes from the original sliding friction to rolling friction, avoiding unnecessary frictional losses between the chains and the edge of the main beam and improving the durability of the structures of the chains and the main beam.

[0015] In the above-mentioned flexible hoisting device of the photovoltaic cleaning robot, preferably, the roller assembly includes a pair of adjacent movable rollers, and the chain is movably arranged in the gap between the pair of adjacent movable rollers.

[0016] The chain is movably arranged in the gap between a pair of adjacent movable rollers, which can change the way of releasing or retracting the chain (from sliding to rolling). In addition, it can play a good role in fixing the chain, preventing the chain from shaking during the process of releasing or retracting, which may cause the chain to get stuck, and improving the reliability of the whole retracting and releasing structure.

[0017] In the above-mentioned flexible hoisting device of the photovoltaic cleaning robot, preferably, the fixing device includes a connecting plate, a clamping column arranged in the sub-circular ring at the end of the chain, and a fixing piece for preventing the sub-circular ring at the end of the chain from disengaging from the clamping column. The connecting plate is fixed to the annular conveying chain, the clamping column is arranged on the connecting plate, and one end of the fixing piece is fixedly arranged on the clamping column.

[0018] The chain is fixed to the annular conveying chain through the fixing device, which can keep the chain in a taut state and can be translated along with the conveying chain, avoiding the phenomenon of chain jamming caused by chain accumulation or twisting. Taking 2 chains as an example, the retracting and releasing length of the chain should not exceed half of the length of the annular conveying chain, that is, the retracting and releasing length should not exceed the distance between two sprockets. The retracting and releasing length of the annular conveying chain can be flexibly determined according to the actual hoisting requirements. When the chain is fixed, the chain is first sleeved on the clamping column, and then the chain is further fixed by a fixing rod, increasing the reliability of the fixing structure.

[0019] In the above-mentioned flexible hoisting device of the photovoltaic cleaning robot, preferably, the fixing device further includes a clamping plate, the clamping plate is semi-elliptical in shape, and a clamping groove for clamping the sub-circular ring at the end of the chain is arranged between the clamping column and the clamping plate.

[0020] A clamping groove for fixing the sub-circular ring at the end of the chain is arranged between the clamping plate and the clamping part, which plays a further role in fixing the end chain, keeping the end chain in a taut state, and preventing the chain from moving due to the gap between the end chain and the clamping part.

[0021] In the above-mentioned flexible hoisting device of the photovoltaic cleaning robot, preferably, the fixing piece includes a backing plate and a bolt. The backing plate is sleeved on the bolt and is clamped above the sub-circular ring at the end of the chain. The fixing component adopts a backing plate and a bolt, which are convenient for disassembly and installation, and facilitate the replacement and maintenance of the chain in the later stage.

[0022] Compared with the prior art, the advantages of the present utility model are as follows:

[0023] 1. The flexible hoisting device of the photovoltaic cleaning robot of the present utility model can use only one driving source to drive the annular conveying chain to drive multiple chains to move simultaneously, simplifying the original hoisting structure, reducing the operation difficulty of chain synchronization control, reducing the number of driving mechanisms at the same time, and saving costs.

[0024] 2. The flexible hoisting device of the photovoltaic cleaning robot of the present utility model has the chain fixed on the annular conveyor chain through a fixing device, and the annular conveyor chain drives the chain to move, avoiding the jamming phenomenon caused by the protrusions on the surface of the chain. In addition, the chain can always maintain a straight state, avoiding the problems of chain accumulation and entanglement, fundamentally solving the problem of chain jamming, and having high structural reliability. Brief Description of the Drawings

[0025] 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 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.

[0026] Figure 1 It is a schematic structural diagram (main beam omitted) of the flexible hoisting device of the photovoltaic cleaning robot in the present utility model.

[0027] Figure 2 It is Figure 1 A partial enlarged view of A (fixing parts omitted).

[0028] Figure 3 It is a schematic structural diagram of the connection between the annular conveyor chain and the chain in the present utility model.

[0029] Figure 4 It is a schematic structural diagram of the fixing device in the present utility model.

[0030] Figure 5 It is a schematic structural diagram of the flexible hoisting device of the photovoltaic cleaning robot in the present utility model after installing the main beam.

[0031] Legend Explanation

[0032] 1. Reducer; 2. Sprocket; 3. Annular conveyor chain; 4. Fixing device; 41. Connecting plate; 42. Clamping post; 43. Fixing part; 44. Clamping plate; 5. Roller; 6. Chain; 7. Main beam; 8. Docking plate. Detailed Embodiment

[0033] To facilitate the understanding of the present utility model, the following will describe the present utility model more comprehensively and meticulously in conjunction with the drawings in the specification and the preferred embodiments. However, the protection scope of the present utility model is not limited to the following specific embodiments.

[0034] It should be particularly noted that when an 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.

[0035] Unless otherwise defined, all technical terms used hereinafter have the same meanings as commonly understood by those skilled in the art. The technical 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.

[0036] Unless otherwise specifically stated, various raw materials, reagents, instruments, equipment, etc. used in the present utility model can be obtained through market purchase or can be prepared by existing methods.

[0037] Embodiment:

[0038] The flexible hoisting device of the photovoltaic cleaning robot in this embodiment includes multiple chains 6 and an endless conveyor chain 3 for simultaneously driving the retraction and extension of the multiple chains 6. The endless conveyor chain 3 is provided with a driving source for driving the rotation of the endless conveyor chain 3. One end of each of the multiple chains 6 is respectively fixed to different positions of the endless conveyor chain 3 through a fixing device 4 to achieve the synchronous movement of the multiple chains 6 and the endless conveyor chain 3.

[0039] This embodiment takes a double-hoisting-point structure as an example for analysis. In other embodiments, multi-point hoisting, such as 3-point hoisting, etc., can also be adopted. The structure can refer to Figure 1 the structure in, increase the number of chains 6, adapt to change the structures of the main beam 7 and the endless conveyor chain 3, set multiple openings, and be equipped with multiple roller assemblies at the openings. The multiple chains 6 are all fixed to the endless conveyor chain 3 through the fixing device 4, and the endless conveyor chain 3 is provided with a driving source for driving the movement of the endless conveyor chain 3.

[0040] Specifically, as Figures 1-3 shown, in this embodiment, there is a pair of chains 6. The endless conveyor chain 3 is driven by a pair of horizontally arranged sprockets 2. One end of each of the pair of chains 6 is respectively fixed to the upper and lower surfaces of the endless conveyor chain 3 through a fixing device 4. One of the above sprockets 2 is a driving sprocket, and the other is a driven sprocket. The driving sprocket is connected to the driving source.

[0041] In this embodiment, the driving source includes a driving motor and a speed reducer 1. The output end of the driving motor is connected to the input end of the speed reducer 1, and the output end of the speed reducer 1 is connected to the driving sprocket of one of the sprockets 2.

[0042] As Figure 5 shown, in this embodiment, it further includes a main beam 7. The endless conveyor chain 3 is arranged inside the main beam 7. Openings for passing a pair of chains 6 are respectively provided at both ends of the main beam 7. A docking plate 8 is arranged on the main beam 7 for connecting with the robotic arm on the delivery vehicle.

[0043] In this embodiment, roller 5 assemblies for the rolling release or rolling retraction of the chains 6 are provided at the openings of the main beam 7.

[0044] As shown Figure 1 In this embodiment, the roller 5 assembly includes a pair of adjacent movable rollers 5, and the chain 6 is movably disposed in the gap between the pair of adjacent movable rollers 5.

[0045] As shown Figure 3 and Figure 4 In this embodiment, the fixing device 4 includes a connecting plate 41, a clamping post 42 disposed in the sub-ring at the end of the chain 6, and a fixing member 43 for preventing the sub-ring at the end of the chain 6 from disengaging from the clamping post 42. The connecting plate 41 is fixed to the annular conveying chain 3, the clamping post 42 is disposed on the connecting plate 41, and one end of the fixing member 43 is fixedly disposed on the clamping post 42. The fixing device 4 further includes a clamping plate 44, the clamping plate 44 is semi-elliptical, and a clamping groove for clamping the sub-ring at the end of the chain 6 is provided between the clamping post 42 and the clamping plate 44. The fixing member 43 includes a backing plate and a bolt, the backing plate is sleeved on the bolt and is clamped on the upper part of the sub-ring at the end of the chain 6.

[0046] When the flexible hoisting device of the photovoltaic cleaning robot with double lifting points in this embodiment is in use, only need to drive the reducer 1 by the driving motor and drive the driving wheel of the sprocket 2, so as to drive the annular conveying chain 3 to rotate. Since a pair of chains 6 are fixed on the upper and lower surfaces of the annular conveying chain 3, at this time, the pair of chains 6 can move synchronously to achieve the purpose of synchronous retraction and release. When it is necessary to retract or release, only need to change the movement direction of the annular conveying chain 3. In this structure, only one driving source can be used to drive the annular conveying chain 3 to drive a pair of chains 6 to move simultaneously, which simplifies the original hoisting structure, reduces the operation difficulty of the synchronous control of the chains 6, and at the same time reduces the number of driving mechanisms, saving costs. At the same time, a pair of chains 6 are respectively fixed to the upper and lower surfaces of the annular conveying chain 3 through the fixing device 4, and the annular conveying chain 3 drives the chains 6 to move, avoiding the jamming phenomenon caused by the protrusions on the surface of the chains 6. In addition, the chains 6 can always be kept in a straightened state, avoiding the problems of accumulation and entanglement of the chains 6, and fundamentally solving the problem of chain jamming.

[0047] 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, the present invention can have various changes and modifications. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. A flexible lifting device for a photovoltaic cleaning robot, characterized in that: The invention comprises a plurality of chains (6) and an annular conveyor chain (3) for simultaneously driving the plurality of chains (6) to be retracted and extended, the annular conveyor chain (3) being provided with a driving source for driving the annular conveyor chain (3) to rotate, one end of the plurality of chains (6) being fixed at different positions of the annular conveyor chain (3) by means of fixing devices (4), so as to realize synchronous movement of the plurality of chains (6) and the annular conveyor chain (3).

2. The photovoltaic cleaning robot flexible lifting device according to claim 1 is characterized in that: A pair of the chains (6) are provided, and the annular conveyor chain (3) is driven by a pair of horizontally arranged sprocket wheels (2). One end of the pair of chains (6) is fixed to the upper and lower surfaces of the annular conveyor chain (3) respectively by means of the fixing device (4).

3. The photovoltaic cleaning robot flexible lifting device according to claim 2 is characterized in that: The driving source comprises a driving motor and a reducer (1), the output end of the driving motor is connected to the input end of the reducer (1), and the output end of the reducer (1) is connected to a sprocket (2).

4. The photovoltaic cleaning robot flexible hoisting device according to any one of claims 1 to 3, characterized in that: It also comprises a main beam (7), the annular conveyor chain (3) being arranged in the main beam (7), and an opening for the chain (6) to pass through is provided on the main beam (7).

5. The photovoltaic cleaning robot flexible hoisting device according to claim 4 is characterized in that: The openings of the main beam (7) are provided with roller assemblies for rolling release or rolling retraction of the chain (6).

6. The photovoltaic cleaning robot flexible hoisting device according to claim 5, characterized in that: The roller assembly comprises a pair of adjacent movable rollers (5), and the chain (6) is movably arranged in a gap between the pair of adjacent movable rollers (5).

7. The photovoltaic cleaning robot flexible hoisting device according to any one of claims 1 to 3, characterized in that: The fixing device (4) comprises a connecting plate (41), a clamping column (42) arranged in a sub-circular ring at the end of the chain (6), and a fixing member (43) for preventing the sub-circular ring at the end of the chain (6) from falling out of the clamping column (42); the connecting plate (41) and the endless conveying chain (3) are fixed, the clamping column (42) is arranged on the connecting plate (41), and one end of the fixing member (43) is fixed on the clamping column (42).

8. The photovoltaic cleaning robot flexible hoisting device according to claim 7, characterized in that: The fixing device (4) further comprises a clamping plate (44), the clamping plate (44) being in a semi-circular shape, and a clamping groove for clamping a sub-circular ring at the end of the chain (6) is provided between the clamping column (42) and the clamping plate (44).

9. The photovoltaic cleaning robot flexible hoisting device according to claim 7, characterized in that: The fixing member (43) comprises a backing plate and a bolt, wherein the backing plate is sleeved on the bolt and is clamped on the upper part of the sub-circular ring at the end of the chain (6).

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