Photovoltaic cleaning robot anti-falling device for regular cleaning
By designing components such as track plates, beams, transmission shafts and limit blocks on the photovoltaic cleaning robot, automatic reversal is achieved to prevent falling, solving the problem of photovoltaic cleaning robot falling in an unattended environment, and improving equipment safety and simplicity of operation.
Patent Information
- Application Number
- CN202422128295.2
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2024-08-30
- Publication Date
- 2025-07-04
- Estimated Expiration
- 2034-08-30
AI Technical Summary
The photovoltaic cleaning robot that is regularly cleaned is prone to fall when it moves to the edge of the photovoltaic panel in an unattended environment, resulting in damage to the equipment and difficult operation.
A fall-proof device is designed, including track plates, cross beams, transmission shafts, walking gears, limit blocks and controllers. Through the cooperation of gear transmission and limit blocks, the robot automatically reverses when approaching the edge to prevent falling.
Effectively prevent photovoltaic cleaning robots from falling in an unattended environment, simplify operational processes, and protect equipment safety.
Smart Images
Figure CN223056344U_ABST
Abstract
Description
Technical Field
[0001] The utility model relates to a fall prevention device for a photovoltaic cleaning robot for timed cleaning, belonging to the field of photovoltaic cleaning robots. Background Technique
[0002] After starting, the photovoltaic cleaning robot for timed cleaning cleans the photovoltaic panels from one side to the other. Since the photovoltaic panels have a certain height and the photovoltaic cleaning robot is a device for timed cleaning, when the photovoltaic cleaning robot moves to the edge part of the photovoltaic panel, there is a situation where the photovoltaic cleaning robot falls due to the untimely reversal of the photovoltaic cleaning robot by the operator. On the one hand, it causes damage to the photovoltaic cleaning robot, and on the other hand, the operation difficulty is relatively large. Therefore, it is necessary to design a fall prevention device for a photovoltaic cleaning robot for timed cleaning. Content of the Utility Model
[0003] Aiming at the deficiencies of the existing technology, the purpose of the utility model is to provide a fall prevention device for a photovoltaic cleaning robot for timed cleaning, so as to solve the problems raised in the above background technique. The utility model prevents falling when working in an unattended environment.
[0004] In order to achieve the above purpose, the utility model is realized by the following technical solutions: A fall prevention device for a photovoltaic cleaning robot for timed cleaning, including a photovoltaic panel. Both parallel sides of the photovoltaic panel are provided with track plates. The track plates are of an L-shaped structure. A top cover is arranged above the photovoltaic panel. A cross beam is arranged inside the top cover. Both ends of the cross beam are provided with end plates. The end plates are arranged inside the top cover. The two track plates are arranged between the two end plates. A transmission shaft parallel to the cross beam is arranged on one side of the cross beam. A first motor that drives the transmission shaft to rotate by a gear transmission method is installed on one side surface of the cross beam. Both ends of the transmission shaft are provided with traveling gears. The traveling gears are rotatably connected to the end plates. The upper surfaces of the horizontal parts of the two track plates are provided with racks that cooperate with the traveling gears. The traveling gears are engaged with the racks. Two limit blocks are symmetrically installed on the upper surfaces of the horizontal parts of the track plates. A controller for controlling the forward and reverse rotation of the first motor is installed on one side surface of the cross beam. A limiting member for limiting the relative position between the end plate and the track plate is installed on the surface of the end plate.
[0005] Further, the limiting member includes limiting wheels. Limiting wheels are rotatably installed at both ends of the end plate. The limiting wheels are arranged outside the rack and are in rolling contact with the rack. Two U-shaped frames are installed on the surface of the end plate facing the cross beam. Upper pressure wheels are rotatably installed on the side far from the end plate inside the U-shaped frames. The upper pressure wheels are in rolling contact with the upper surface of the horizontal part of the track plate. A lower pressure wheel that is in rolling contact with the lower surface of the horizontal part of the track plate is rotatably installed at the lower position on the surface of the end plate facing the cross beam.
[0006] Furthermore, both ends of the end plate are connected and fixed with ear plates, and the limiting wheel is rotatably connected to the horizontal part of the ear plate through a shaft rod.
[0007] Furthermore, a cleaning brush roller is provided on the side of the crossbeam away from the transmission shaft, and both ends of the cleaning brush roller are rotatably connected to two end plates respectively. A second motor is installed on the outer side of one of the end plates, and the output shaft of the second motor is fixedly connected to one end of the cleaning brush roller by bolts.
[0008] Furthermore, the rack and the track plate are an integrally formed structure, and the rack and the horizontal portion of the track plate are arranged perpendicular to each other.
[0009] Furthermore, both ends of the transmission shaft are sleeved with support plates rotatably connected to the transmission shaft, and the support plates are L-shaped structures, and the support plates are connected and fixed to the crossbeams by screws.
[0010] Beneficial effects of the utility model:
[0011] 1. When the first motor is working, it drives the travel gear to rotate through the transmission shaft. Because the travel gear rack is meshed, the travel gear moves along the rack. At this time, the beam, end plate and other components move together. When the upper pressure wheel moves to contact the limit block on the track plate, it is blocked by the limit block, and the beam, end plate and other components no longer move. At this time, the current of the first motor increases. After the controller detects the increase in the current of the first motor, it controls the first motor to reverse, so that the travel gear moves in the opposite direction along the rack, thereby preventing falling when working in an unattended environment.
[0012] 2. The two limiting wheels on the end plate are arranged on the outside of the rack and in rolling contact with the rack, and the upper pressure wheel and the lower pressure wheel are respectively arranged on the upper and lower sides of the horizontal part of the track plate, so that the limiting wheel, the lower pressure wheel and the upper pressure wheel cooperate with each other to limit the movement trajectory of the end plate, beam and other components. BRIEF DESCRIPTION OF THE DRAWINGS
[0013] Other features, objects and advantages of the present invention will become more apparent by reading the detailed description of non-limiting embodiments with reference to the following drawings:
[0014] Figure 1 This is a schematic structural diagram of a photovoltaic cleaning robot anti-falling device for timed cleaning according to the utility model;
[0015] Figure 2 for Figure 1 Enlarged view of point A in the middle;
[0016] Figure 3 This is a schematic diagram of the assembly of an end plate, a first motor, a transmission shaft, a track plate and a crossbeam in a photovoltaic cleaning robot anti-fall device for timed cleaning according to the utility model;
[0017] Figure 4 For Figure 3 the enlarged view at position B in the figure;
[0018] Figure 5 is the assembly schematic diagram of the limit wheel, upper pressure wheel, lower pressure wheel, walking gear and end plate in a anti-falling device of a photovoltaic cleaning robot for timed cleaning according to the present utility model;
[0019] Figure 6 is the circuit schematic diagram of the controller in a anti-falling device of a photovoltaic cleaning robot for timed cleaning according to the present utility model;
[0020] In the figure: 1 - photovoltaic panel, 2 - top cover, 3 - end plate, 4 - limit block, 5 - track plate, 6 - rack, 7 - limit wheel, 8 - upper pressure wheel, 9 - U-shaped frame, 10 - transmission shaft, 11 - first motor, 12 - cleaning brush roller, 13 - controller, 14 - cross beam, 15 - second motor, 16 - walking gear, 17 - lower pressure wheel. Specific embodiments
[0021] In order to make the technical means, creative features, achieved purposes and effects of the present utility model easy to understand, the present utility model will be further described below in conjunction with specific embodiments.
[0022] Please refer to Figures 1-5 , the present utility model provides a technical solution: an anti-falling device of a photovoltaic cleaning robot for timed cleaning, including a photovoltaic panel 1. Track plates 5 are installed on both parallel sides of the photovoltaic panel 1. The track plate 5 is of an L-shaped structure. A top cover 2 is provided above the photovoltaic panel 1. A cross beam 14 is provided inside the top cover 2. End plates 3 are installed at both ends of the cross beam 14. The end plates 3 are arranged inside the top cover 2. The two track plates 5 are arranged between the two end plates 3. Fixed ears are connected to both ends of the end plate 3. Among them, the limit wheel 7 is rotatably connected to the horizontal part of the ear plate through a shaft rod. The limit wheel 7 is arranged outside the rack 6 and is in rolling contact with the rack 6. Two U-shaped frames 9 are installed on the side of the end plate 3 facing the cross beam 14. An upper pressure wheel 8 is rotatably installed on the side far from the end plate 3 inside the U-shaped frame 9. The upper pressure wheel 8 is in rolling contact with the upper surface of the horizontal part of the track plate 5. A lower pressure wheel 17 that is in rolling contact with the lower surface of the horizontal part of the track plate 5 is rotatably installed at the lower position on the side of the end plate 3 facing the cross beam 14. So that the two limit wheels 7 on the end plate 3 are arranged outside the rack 6 and are in rolling contact with the rack 6. The upper pressure wheel 8 and the lower pressure wheel 17 are respectively arranged above and below the horizontal part of the track plate 5. Furthermore, the limit wheel 7, the lower pressure wheel 17 and the upper pressure wheel 8 cooperate with each other to realize the restriction of the movement trajectories of components such as the end plate 3 and the cross beam 14.
[0023] Refer to Figures 1-6, a transmission shaft 10 arranged in parallel with the cross beam 14 is provided on one side of the cross beam 14. Both ends of the transmission shaft 10 are sleeved with support plates rotatably connected to the transmission shaft 10. The support plates are of L-shaped structure and are fixedly connected to the cross beam 14 by screws. The support plates realize the support of the transmission shaft 10. A first motor 11 that drives the transmission shaft 10 to rotate by a gear transmission method is installed on one side surface of the cross beam 14. Walking gears 16 are installed at both ends of the transmission shaft 10. The walking gears 16 are rotatably connected to the end plates 3. Rack bars 6 that cooperate with the walking gears 16 are installed on the upper surfaces of the horizontal parts of the two track plates 5. The rack bars 6 and the track plates 5 are of an integrally formed structure, and the rack bars 6 and the horizontal parts of the track plates 5 are arranged perpendicular to each other. The walking gears 16 are engaged with the rack bars 6. Two limit blocks 4 are symmetrically installed on the upper surface of the horizontal part of the track plate 5. A controller 13 for controlling the forward and reverse rotation of the first motor 11 is installed on one side surface of the cross beam 14. When the first motor 11 works, it drives the walking gears 16 to rotate through the transmission shaft 10. Since the walking gears 16 are engaged with the rack bars 6, the walking gears 16 move along the rack bars 6. At this time, components such as the cross beam 14 and the end plates 3 move together. When the upper pressing wheel 8 moves to contact the limit block 4 on the track plate 5, due to the blocking effect of the limit block 4, components such as the cross beam 14 and the end plates 3 no longer move. At this time, the current of the first motor 11 increases. After the controller 13 detects the increase in the current of the first motor 11, it controls the first motor 11 to reverse, so that the walking gears 16 walk in the reverse direction along the rack bars 6, realizing the prevention of falling when working in an unattended environment. Using the controller 13 to control the on-off of the circuit of the first motor 11 facilitates timed cleaning.
[0024] Motor drive part: N-channel field effect transistors Q1, Q2, Q3, and Q4 form an H-bridge circuit for driving a brushed motor. U1 is the drive chip for the half-bridge Q1, Q4, and U2 is the drive chip for the half-bridge Q2, Q3. A1 and A2 are the input control signals of U1 and U2, jointly controlling the output direction and output duty cycle of the H-bridge; Current acquisition part: U3 is an operational amplifier, and R10 is a sampling resistor. The current flowing through R10 is the actual working current of the brushed motor driving the wheel. The small voltage signal across the sampling resistor R10 is amplified and filtered by the operational amplifier U3, and the output signal is EleA. Then, the actual working current of the motor is obtained through the acquisition of the control MCU; Motor current regulation: The control MCU controls the duty cycle of the H-bridge output by the duty cycles of A1 and A2, and thus can adjust and limit the operating current of the motor, and forms a closed-loop control of the current through the acquisition feedback of the operational amplifier; When the machine runs to the end and contacts the limit block 4, the running resistance of the machine increases sharply, and the current of the first motor 11 will also increase sharply. The normal operating current of the first motor 11 is about 1A. When the machine runs to the end and contacts the limit block 4, the operating current of the first motor 11 increases to 2A and lasts for more than 3S, then the control system considers that the machine has reached the breakpoint and conducts reverse driving.
[0025] Refer to Figure 3 , on the side of the cross beam 14 facing away from the transmission shaft 10, a cleaning brush roll 12 is provided. Both ends of the cleaning brush roll 12 are respectively rotatably connected to two end plates 3. A second motor 15 is installed on the outer side of one end plate 3. The output shaft of the second motor 15 is connected and fixed to one end of the cleaning brush roll 12 through bolts. When the second motor 15 works, the second motor 15 drives the cleaning brush roll 12 to rotate, so that the rotating cleaning brush roll 12 realizes the brushing of the surface of the photovoltaic panel 1.
[0026] Although this specification is described according to the embodiments, not every embodiment only contains an independent technical solution. This narrative way of the specification is only for clarity. Those skilled in the art should regard the specification as a whole, and the technical solutions in each embodiment can also be appropriately combined to form other embodiments that can be understood by those skilled in the art.
Claims
1. A fall prevention device for a photovoltaic cleaning robot used for timed cleaning, including a photovoltaic panel (1), characterized in that: Both of the two parallel side surfaces of the photovoltaic panel (1) are provided with track plates (5). The track plates (5) are of an L-shaped structure. A top cover (2) is arranged above the photovoltaic panel (1). A cross beam (14) is arranged inside the top cover (2). End plates (3) are installed at both ends of the cross beam (14). The end plates (3) are arranged inside the top cover (2). The two track plates (5) are arranged between the two end plates (3). A transmission shaft (10) arranged in parallel with the cross beam (14) is arranged on one side of the cross beam (14). A first motor (11) that drives the transmission shaft (10) to rotate through a gear transmission method is installed on one side surface of the cross beam (14). Walking gears (16) are installed at both ends of the transmission shaft (10). The walking gears (16) are rotatably connected to the end plates (3). Rack bars (6) that cooperate with the walking gears (16) are installed on the upper surfaces of the horizontal parts of the two track plates (5). The walking gears (16) are meshed with the rack bars (6). Two limit blocks (4) are symmetrically installed on the upper surface of the horizontal part of the track plate (5). A controller (13) for controlling the forward and reverse rotation of the first motor (11) is installed on one side surface of the cross beam (14). A limiting member for limiting the relative position between the end plate (3) and the track plate (5) is installed on the surface of the end plate (3).
2. The anti-falling device for a photovoltaic cleaning robot for timed cleaning according to claim 1, wherein: The limiting member includes limiting wheels (7). Limiting wheels (7) are rotatably installed at both ends of the end plate (3). The limiting wheels (7) are arranged outside the rack bars (6) and are in rolling contact with the rack bars (6). Two U-shaped frames (9) are installed on the surface of the end plate (3) facing the cross beam (14). Upper pressing wheels (8) are rotatably installed on the side far from the end plate (3) inside the U-shaped frames (9). The upper pressing wheels (8) are in rolling contact with the upper surface of the horizontal part of the track plate (5). Lower pressing wheels (17) that are in rolling contact with the lower surface of the horizontal part of the track plate (5) are rotatably installed at the lower position on the surface of the end plate (3) facing the cross beam (14).
3. The anti-falling device of a photovoltaic cleaning robot for timed cleaning according to claim 2, wherein: Ear plates are fixedly connected to both ends of the end plate (3). The limiting wheels (7) are rotatably connected to the horizontal parts of the ear plates through shaft rods.
4. The anti-falling device for a photovoltaic cleaning robot for timed cleaning according to claim 1, characterized in that: A cleaning brush roller (12) is arranged on the side of the cross beam (14) facing away from the transmission shaft (10). Both ends of the cleaning brush roller (12) are respectively rotatably connected to the two end plates (3). A second motor (15) is installed on the outer side surface of one end plate (3). The output shaft of the second motor (15) is fixedly connected to one end of the cleaning brush roller (12) through a bolt.
5. The anti-falling device of a photovoltaic cleaning robot for timed cleaning according to claim 1, characterized in that: The rack bar (6) and the track plate (5) are of an integrally formed structure. The rack bar (6) and the horizontal part of the track plate (5) are arranged perpendicular to each other.
6. The anti-falling device of a photovoltaic cleaning robot for timed cleaning according to claim 1, characterized in that: Support plates rotatably connected to the transmission shaft (10) are sleeved at both ends of the transmission shaft (10). The support plates are of an L-shaped structure. The support plates are fixedly connected to the cross beam (14) through screws.