Inhaul cable device and robot

Abstract

The utility model provides an inhaul cable device and a robot, the inhaul cable device comprises a first platform, a second platform, two steering wheel assemblies, two flat cable assemblies, two transmission assemblies, two rotating wheels and two inhaul cables, the first platform and the second platform are installed at two ends of a photovoltaic panel array; the two steering wheel assemblies are installed at the two ends of the first platform respectively, the two rotating wheels are installed at the two ends of the second platform respectively, one end of the inhaul cable is wound around one wire wheel of the steering wheel assemblies clockwise, the other end of the inhaul cable is wound around the other wire wheel anticlockwise, and the rotating direction of the wire wheels of the steering wheel assemblies is controlled through a motor. And the inhaul cable is controlled to rotate to drive the cleaning device of the robot to move on the photovoltaic panel array, and in the moving process of the cleaning device, cleaning of the surfaces of the photovoltaic panels is achieved. The photovoltaic panel cleaning device has the advantages that regular cleaning of the surface of a photovoltaic panel is achieved, and manpower, time cost and manufacturing cost are saved.

Description

Technical Field

[0001] The utility model relates to the technical field of photovoltaic panel cleaning, in particular to a cable device and a robot. Background Art

[0002] Photovoltaic panels utilize the photovoltaic effect of semiconductor materials under light conditions to directly convert solar energy into electrical energy. To ensure power generation efficiency, photovoltaic panels are mostly inclined at an angle relative to the horizontal plane. Photovoltaic panels are installed outdoors, so dust or other attachments are likely to accumulate on the surface of the panels, resulting in a reduction in the power generation efficiency of the photovoltaic panels.

[0003] When multiple photovoltaic panels are arranged to form a photovoltaic panel array, after arranging one or two photovoltaic panels along their length as a unit, the above units can be arrayed along the width direction of the photovoltaic panel to form a photovoltaic panel array. The surface of the photovoltaic panel needs to be cleaned regularly to reduce the manual cleaning cost and improve the cleaning efficiency. Summary of the Utility Model

[0004] The utility model provides a cable device and a robot to solve the problem that the surface of the photovoltaic panel needs to be cleaned regularly.

[0005] To solve the above technical problems, the utility model discloses the following technical solutions:

[0006] The utility model provides a cable device, including a first platform, a second platform, two steering wheel assemblies, two cable arranging assemblies, two transmission assemblies, two rotating wheels and two cables. The first platform is installed at one end of a photovoltaic panel array; the second platform is installed at the other end of the photovoltaic panel array, and the first platform and the second platform are arranged oppositely; the two steering wheel assemblies are respectively a first steering wheel assembly and a second steering wheel assembly, the first steering wheel assembly and the second steering wheel assembly are coaxially connected by a first transmission shaft, and the first steering wheel assembly and the second steering wheel assembly are respectively installed at both ends of the first platform; the two cable arranging assemblies are respectively installed at both ends of the first platform, and the cable arranging assemblies are arranged oppositely to the steering wheel assemblies; the two transmission assemblies are respectively installed on the top surfaces at both ends of the first platform, the steering wheel assemblies are in transmission connection with the transmission assemblies, and the cable arranging assemblies are in transmission connection with the transmission assemblies; the two rotating wheels are respectively installed at both ends of the second platform, and the rotating wheels are arranged oppositely to the steering wheel assemblies; both ends of the cable are wound around the surfaces of the steering wheel assemblies and the cable is sleeved on the surfaces of the rotating wheels.

[0007] Further, a first C-shaped bracket is provided at each end of the first platform. The first C-shaped bracket includes a vertical side and two oppositely arranged horizontal sides, which are the first horizontal side and the second horizontal side respectively. The first steering wheel assembly includes a motor fixed to the bottom surface of the first horizontal side. The motor includes a power output shaft, with one end of the power output shaft installed on the motor and a first gear sleeved on the other end.

[0008] Further, the first steering wheel assembly includes two bearings, a first rotating shaft, a first wire wheel, a second wire wheel, a second gear and a first conveyor belt. The two bearings are the first bearing and the second bearing respectively. The first bearing is installed on the top surface of the first horizontal side, and the second bearing is installed on the top surface of the second horizontal side. The first end of the first rotating shaft is rotatably installed on the first bearing, and the second end is rotatably installed on the second bearing. The first end of the first transmission shaft is connected to the first rotating shaft. The first wire wheel is sleeved on the surface of the first rotating shaft, and one end of the cable is wound clockwise around the first wire wheel. The second wire wheel is sleeved on the surface of the first rotating shaft. One end of the first wire wheel is fixedly connected to one end of the second wire wheel, and the other end of the cable is wound counterclockwise around the second wire wheel. The second gear is sleeved on the first end of the first rotating shaft. The first conveyor belt is meshingly sleeved on the surfaces of the second gear and the first gear.

[0009] Further, the second steering wheel assembly includes two bearings, a second rotating shaft, a first wire wheel and a second wire wheel. The two bearings are the first bearing and the second bearing respectively. The first bearing is installed on the top surface of the first horizontal side, and the second bearing is installed on the top surface of the second horizontal side. The first end of the second rotating shaft is rotatably installed on the first bearing, and the second end is rotatably installed on the second bearing. The second end of the first transmission shaft is connected to the second rotating shaft. The first wire wheel is sleeved on the surface of the second rotating shaft. The second wire wheel is sleeved on the surface of the second rotating shaft, and one end of the first wire wheel is fixedly connected to one end of the second wire wheel.

[0010] Further, the steering wheel assembly includes a pressing wheel assembly, which is fixed to the vertical side of the first C-shaped bracket. The pressing wheel assembly includes a C-shaped member, a first connecting rod, a second connecting rod, two oppositely arranged L-shaped arm brackets and a torsion spring. The C-shaped member is fixed to the vertical side of the first C-shaped bracket, and the C-shaped member includes two oppositely arranged first baffles; both ends of the first connecting rod are respectively fixed to the two oppositely arranged first baffles; two wire pressing wheels are rotatably sleeved on the second connecting rod, and the wire pressing wheels abut against the first wire wheel and the second wire wheel of the steering wheel assembly; the L-shaped arm bracket includes a connecting plate and a sleeve, the first end of the connecting plate is fixed to one end of the first connecting rod, the sleeve is fixed to the second end of the connecting plate, and the sleeve is rotatably sleeved on the first connecting rod; the torsion spring is sleeved on the first connecting rod, and the torsion spring is arranged between the sleeve and the first connecting rod.

[0011] Further, the transmission assembly includes a third bearing, a third gear, a second transmission shaft and a second transmission belt. The third bearing is fixed to the top surface of one end of the first platform; the third gear is sleeved on one end of the first transmission shaft; the second transmission shaft is rotatably installed on the third bearing, and a fourth gear and a fifth gear are respectively sleeved on both ends of the second transmission shaft; the second transmission belt is meshingly sleeved on the surfaces of the fourth gear and the third gear.

[0012] Further, the wire arranging assembly includes a C-shaped bearing, a reciprocating lead screw, a sixth gear, a third transmission belt, a third connecting rod, a moving block and a wire arranging plate. The C-shaped bearing is fixed to one end of the first platform, the C-shaped bearing includes two oppositely arranged second baffles, and a rotating device is provided on the second baffle, and the rotating devices on the two second baffles are oppositely arranged; the first end of the reciprocating lead screw is installed on the rotating device of one second baffle, and the second end of the reciprocating lead screw is installed on the rotating device of the other second baffle; the sixth gear is sleeved on the second end of the reciprocating lead screw; the third transmission belt is meshingly sleeved on the surfaces of the sixth gear and the fifth gear; the third connecting rod is fixed between the two second baffles, and the third connecting rod is arranged in parallel with the reciprocating lead screw; the moving block includes a threaded hole and a through hole, the reciprocating lead screw is installed in the threaded hole, and the third connecting rod is installed in the through hole; the wire arranging plate is fixed to the moving block, and the wire arranging plate is oppositely arranged with the first wire wheel and the second wire wheel of the steering wheel assembly.

[0013] Further, the wire arranging plate includes a first strip-shaped through hole and a second strip-shaped through hole, and one end of the cable passes through the first strip-shaped through hole and is wound around the first wire wheel; the other end of the cable passes through the second strip-shaped through hole and is wound around the second wire wheel in an opposite setting.

[0014] The present utility model further provides a robot, which includes the cable device and the cleaning device. Both ends of the cleaning device are respectively fixed to a cable, and the cleaning device is installed on the surface of a photovoltaic panel array.

[0015] Further, the cleaning device includes a housing, two moving devices and a rotary brush.

[0016] The two moving devices are respectively installed at both ends of the housing, and the two cables are fixed to the opposite sides of the two moving devices; the rotary brush is rotatably installed between the two moving devices.

[0017] Compared with the prior art, the present utility model at least has the following technical effects:

[0018] The present utility model provides a cable device and a robot. The cable device includes a first platform, a second platform, two steering wheel assemblies, two wire arranging assemblies, two transmission assemblies, two runners and two cables. The first platform is installed at one end of a photovoltaic panel array; the second platform is installed at the other end of the photovoltaic panel array. The two steering wheel assemblies are respectively installed at both ends of the first platform, and the two runners are respectively installed at both ends of the second platform. One end of the cable is wound clockwise around a wire wheel of the steering wheel assembly, and the other end is wound counterclockwise around another wire wheel. By controlling the rotation direction of the wire wheels of the steering wheel assembly with a motor, the two wire wheels of the wire wheel assembly are controlled to take in and pay out the wire. During the process of taking in and paying out the cable, the cleaning device of the robot is driven to move on the photovoltaic panel array. During the moving process of the cleaning device, the surface of the photovoltaic panel is cleaned, saving labor, time cost and manufacturing cost. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] The following combines the drawings and specific embodiments to elaborate on the technical solutions of the present utility model in detail.

[0020] Figure 1 It is an assembly drawing of the cable robot and the photovoltaic panel array according to the embodiment of the present utility model;

[0021] Figure 2 It is a structural schematic diagram of the cleaning device according to the embodiment of the present utility model;

[0022] Figure 3 It is a partial structural schematic of the cable robot according to the embodiment of the present utility model Figure 1 ;

[0023] Figure 4 It is a partial structural schematic of the cable robot according to the embodiment of the present utility model Figure 2 ;

[0024] Figure 5Schematic diagram of the partial structure of the cable robot according to the embodiment of the present utility model Figure 3 ;

[0025] Figure 6 Schematic diagram of the partial structure of the cable robot according to the embodiment of the present utility model Figure 4 ;

[0026] Figure 7 Schematic diagram of the partial structure of the cable robot according to the embodiment of the present utility model Figure 5 ;

[0027] Figure 8 Schematic diagram of the partial structure of the cable robot according to the embodiment of the present utility model Figure 6 ;

[0028] Figure 9 Schematic diagram of the structure of the U-shaped bearing according to the embodiment of the present utility model;

[0029] Figure 10 Schematic diagram of the structure of the wire arranging board according to the embodiment of the present utility model.

[0030] The component identifications in the figure are as follows:

[0031] 100 Cable device;

[0032] 110 First platform, 111 First U-shaped bracket, 112 Vertical side, 113 Horizontal side,

[0033] 120 Second platform;

[0034] 130 Steering wheel assembly, 130a First steering wheel assembly, 130b Second steering wheel assembly, 131 Motor, 132 Power output shaft, 133 Bearing, 134 First rotating shaft, 135 First wire wheel, 136 Second wire wheel, 137 Second gear, 138 First transmission belt;

[0035] 140 Wire arranging assembly, 141 U-shaped bearing, 142 Reciprocating lead screw, 143 Sixth gear, 144 Third transmission belt, 145 Third connecting rod, 146 Moving block, 147 Wire arranging board, 148 Second baffle, 149 Rotating device;

[0036] 150 Transmission assembly, 151 Third bearing, 152 Third gear, 153 Second transmission shaft, 154 Second transmission belt, 155 Fourth gear, 156 Fifth gear;

[0037] 160 Runner;

[0038] 170 Cable;

[0039] 180 First transmission shaft, 181 Second rotating shaft, 182 First gear, 183 First strip-shaped through hole, 184 Second strip-shaped through hole;

[0040] 190 pressing wheel assembly, 191 C-shaped part, 192 first connecting rod, 193 second connecting rod, 194 L-shaped boom, 195 first baffle, 196 wire pressing wheel, 197 connecting plate, 198 sleeve;

[0041] 200 photovoltaic panel array;

[0042] 300 robot;

[0043] 310 cleaning device, 311 housing, 312 moving device, 313 rotary brush, 314 wheel. Detailed implementation manners

[0044] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative efforts fall within the protection scope of the present invention.

[0045] In the drawings, components with the same structure are denoted by the same numeral labels, and components with similar structures or functions everywhere are denoted by similar numeral labels. The directional terms mentioned in the present invention, for example, up, down, front, back, left, right, inside, outside, upper surface, lower surface, side surface, top surface, bottom surface, front end, rear end, end, etc., are only the directions in the drawings, which are only used to explain and illustrate the present invention, rather than to limit the protection scope of the present invention.

[0046] In the drawings, components with the same structure are denoted by the same numeral labels. When some components are described as "on" another component, the component can be directly placed on the other component; there may also be an intermediate component, the component is placed on the intermediate component, and the intermediate component is placed on another component. When a component is described as "mounted to" or "connected to" another component, the two can be understood as being directly "mounted" or "connected", or a component is indirectly "mounted to" or "connected to" another component through an intermediate component.

[0047] As Figures 1 - 3 shown, the present invention provides a robot 300, including a cable device 100 and a cleaning device 310. Both ends of the cleaning device 310 are respectively fixed to a cable 170, and the cleaning device 310 is mounted on the surface of a photovoltaic panel array 200.

[0048] The cleaning device 310 includes a housing 311, two moving devices 312, and a rolling brush 313. The two moving devices 312 are respectively installed at both ends of the housing 311. The bottom surface and the side surface of the moving device 312 each include more than two wheels 314. The cable 170 is fixed to the side surfaces of the two moving devices 312 facing away from each other, enabling the cleaning device 310 to move stably on the photovoltaic panel array 200. The rolling brush 313 is rotatably installed between the two moving devices 312 and is used to clean the surface of the photovoltaic panel array 200. The rolling brush 313 can be replaced with a scraping plate, a brush, or other cleaning tools capable of cleaning the photovoltaic panel array.

[0049] In this embodiment, when the cable device 100 is activated, the two steering wheel assemblies 130 rotate synchronously in the clockwise direction, and the cleaning device 310 moves from the second platform 120 to the first platform 110. When the two steering wheel assemblies 130 rotate synchronously in the counterclockwise direction, at this time, the cleaning device 310 moves from the first platform 110 to the second platform 120. During the movement of the cleaning device 310, the surface of the photovoltaic panel array 200 will be cleaned.

[0050] As Figure 1 and Figures 3 - 4 shown, the cable device 100 provided by the present utility model includes a first platform 110, a second platform 120, two steering wheel assemblies 130, two cable arranging assemblies 140, two transmission assemblies 150, two rotating wheels 160, and two cables 170. The first platform 110 is installed at one end of a photovoltaic panel array 200. The second platform 120 is installed at the other end of the photovoltaic panel array 200. The first platform 110 and the second platform 120 are arranged opposite to each other. The two steering wheel assemblies 130 are respectively a first steering wheel assembly 130a and a second steering wheel assembly 130b. The first steering wheel assembly 130a and the second steering wheel assembly 130b are coaxially connected by a first transmission shaft 180 and can rotate synchronously. The first steering wheel assembly 130a and the second steering wheel assembly 130b are respectively installed at both ends of the first platform 110. The two cable arranging assemblies 140 are respectively installed at both ends of the first platform 110. The cable arranging assembly 140 and the steering wheel assembly 130 are arranged opposite to each other. The two transmission assemblies 150 are respectively installed on the top surfaces at both ends of the first platform 110. The steering wheel assembly 130 and the transmission assembly 150 are in transmission connection. The cable arranging assembly 140 and the transmission assembly 150 are in transmission connection. The two rotating wheels 160 are respectively installed at both ends of the second platform 120. The rotating wheel 160 and the steering wheel assembly 130 are arranged opposite to each other. Both ends of the cable 170 are wound around the surface of the steering wheel assembly 130, and the cable 170 is sleeved on the surface of the rotating wheel 160.

[0051] As Figures 5 - 6, at both ends of the first platform 110, there is respectively provided a first C-shaped bracket 111. The first C-shaped bracket 111 includes a vertical side 112 and two oppositely arranged horizontal sides 113. The two oppositely arranged horizontal sides 113 are respectively the first horizontal side 113 and the second horizontal side 113; the first steering wheel assembly 130a includes a motor 131, and the motor 131 is fixed to the bottom surface of the first horizontal side 113; the motor 131 includes a power output shaft 132. One end of the power output shaft 132 is installed on the motor 131, and the other end is sleeved with a first gear 182.

[0052] Further, the first steering wheel assembly 130a includes two bearings 133, a first rotating shaft 134, a first wire wheel 135, a second wire wheel 136, a second gear 137, and a first conveyor belt 138. The two bearings 133 are respectively the first bearing 133 and the second bearing 133. The first bearing 133 is installed on the top surface of the first horizontal side 113, and the second bearing 133 is installed on the top surface of the second horizontal side 133; the first end of the first rotating shaft 134 is rotatably installed on the first bearing 133, the second end of the first rotating shaft 134 is rotatably installed on the second bearing 133, and the first end of the first transmission shaft 180 is connected to the first rotating shaft 134; the first wire wheel 135 is sleeved on the surface of the first rotating shaft 134, and one end of the cable 170 is wound clockwise around the first wire wheel 135; the second wire wheel 136 is sleeved on the surface of the first rotating shaft 134, one end of the first wire wheel 135 is fixedly connected to one end of the second wire wheel 136, and the other end of the cable 170 is wound counterclockwise around the second wire wheel 136; the second gear 137 is sleeved on the first end of the first rotating shaft 134. The number of teeth of the second gear 137 is N times the number of teeth of the first gear 182, and the rotation speed of the second gear 137 is 1 / N of the rotation speed of the first gear 182; the first conveyor belt 138 is meshingly sleeved on the surfaces of the second gear 137 and the first gear 182.

[0053] Further, the second steering wheel assembly 130b includes two bearings 133, a second rotating shaft 181, a first wire wheel 135, and a second wire wheel 136. The two bearings 133 are respectively the first bearing 133 and the second bearing 133. The first bearing 133 is installed on the top surface of the first horizontal side 113, and the second bearing 133 is installed on the top surface of the second horizontal side 133; the first end of the second rotating shaft 181 is rotatably installed on the first bearing 133, the second end of the second rotating shaft 181 is rotatably installed on the second bearing 133, and the second end of the first transmission shaft 180 is connected to the second rotating shaft 181; the first wire wheel 135 is sleeved on the surface of the first rotating shaft 134, and one end of the cable 170 is wound clockwise around the first wire wheel 135; the second wire wheel 136 is sleeved on the surface of the first rotating shaft 134, one end of the first wire wheel 135 is fixedly connected to one end of the second wire wheel 136, and the other end of the cable 170 is wound counterclockwise around the second wire wheel 136.

[0054] The rotation modes of the first wire wheels 135 of the first steering wheel assembly 130a and the second steering wheel assembly 130b and the second wire wheels 136, and the wire winding and unwinding processes of the cable 170 wound around the first wire wheels 135 and the second wire wheels 136 are exactly the same.

[0055] The cable 170 is wound around the first wire wheels 135 and the second wire wheels 136, enabling the first wire wheels 135 and the second wire wheels 136 to directly provide a pulling force on the cable 170. If the cable 170 is directly sleeved on the surfaces of the first wire wheels 135 and the second wire wheels 136, the cable 170 may slip due to the frictional force between the cable 170 and the surfaces of the first wire wheels 135 and the second wire wheels 136 and between the cable 170 and the surface of the rotating wheel 160. However, when the cable 170 is wound around the first wire wheels 135 and the second wire wheels 136, the first wire wheels 135 and the second wire wheels 136 provide a pulling force to the cable 170 through rotation, avoiding the possibility of the cable 170 slipping.

[0056] In this embodiment, when the motor 131 drives the power output shaft 132 to rotate clockwise or counterclockwise, the first gear 182 rotates synchronously with the power output shaft 10. When the first gear 182 rotates, it drives the second gear 137 to rotate through the first transmission belt 139. Since the rotation speed of the second gear 137 is 1 / N of the rotation speed of the first gear 182, the rotation of the second gear 137 drives the first rotating shaft 134 to rotate. The rotation of the first rotating shaft 134 drives the first transmission shaft 180 to rotate, and the rotation of the first transmission shaft 180 drives the second rotating shaft 181 to rotate, ensuring that the first rotating shaft 134, the second rotating shaft 181, and the first transmission shaft 180 rotate coaxially and synchronously at the rotation speed of the second gear 137. Furthermore, it ensures that the first wire wheels 135 and the second wire wheels 136 of the first steering wheel assembly 130a and the first wire wheels 135 and the second wire wheels 136 of the second steering wheel assembly 130b rotate coaxially and synchronously at the rotation speed of the second gear 137, preventing the first wire wheels 135 and the second wire wheels 136 of the first steering wheel assembly 130a and the first wire wheels 135 and the second wire wheels 136 of the second steering wheel assembly 130b from rotating too fast, which may cause the cleaning device 310 to move too fast and unable to ensure the cleaning effect of the cleaning device 310 on the photovoltaic panel array 200.

[0057] Further, the steering wheel assembly 130 includes a pressing wheel assembly 190. The pressing wheel assembly 190 is fixed to the vertical side 112 of the first C-shaped bracket 111. The pressing wheel assembly 190 includes a C-shaped member 191, a first connecting rod 192, a second connecting rod 193, two oppositely arranged L-shaped arm brackets 194, and a torsion spring (not shown in the figure). The C-shaped member 191 is fixed to the vertical side 112 of the first C-shaped bracket 111. The C-shaped member 191 includes two oppositely arranged first baffles 195. Both ends of the first connecting rod 192 are respectively fixed to the two oppositely arranged first baffles 195. Two wire pressing wheels 196 are rotatably sleeved on the second connecting rod 193. The wire pressing wheels 196 abut against the first wire wheel 135 and the second wire wheel 136 of the steering wheel assembly 130. The L-shaped arm bracket 194 includes a connecting plate 197 and a sleeve 198. The first end of the connecting plate 197 is fixed to one end of the first connecting rod 192. The sleeve 198 is fixed to the second end of the connecting plate 197, and the sleeve 198 is rotatably sleeved on the first connecting rod 192. The torsion spring (not shown in the figure) is sleeved on the first connecting rod 192, and the torsion spring (not shown in the figure) is arranged between the sleeve 198 and the first connecting rod 192.

[0058] In this embodiment, the elastic force provided by the torsion spring causes the two wire pressing wheels 196 to always press the cable 170 on the surfaces of the first wire wheel 135 and the second wire wheel 136, preventing the cables 170 from overlapping with each other when the first wire wheel 135 or the second wire wheel 136 retracts the cable 170, resulting in the cable 170 knotting.

[0059] Further, the transmission assembly 150 includes a third bearing 151, a third gear 152, a second transmission shaft 153, and a second transmission belt 154. The third bearing 151 is fixed to the top surface of one end of the first platform 110. The third gear 152 is sleeved on one end of the first transmission shaft 180. The second transmission shaft 153 is rotatably installed on the third bearing 151. A fourth gear 155 and a fifth gear 156 are respectively sleeved on both ends of the second transmission shaft 153. The second transmission belt 154 is meshingly sleeved on the surfaces of the fourth gear 155 and the third gear 152. Among them, the number of teeth of the third gear 152 and the fifth gear 156 is the same as the number of teeth of the first gear 182, and the number of teeth of the fourth gear 155 is the same as the number of teeth of the second gear 137.

[0060] In this embodiment, the third gear 152 is coaxially connected to the second gear 137 and has the same rotational speed. When the first transmission shaft 180 rotates, it drives the third gear 152 to rotate at the rotational speed of the second gear 137. The rotation of the third gear 152 drives the fourth gear 155 to rotate through the second transmission belt 154. The number of teeth of the fourth gear 155 is S times that of the third gear 152. Therefore, the rotational speed of the fourth gear 155 is 1 / (N*S) of the rotational speed of the first gear 182. The fifth gear 156 rotates coaxially with the fourth gear 155 and has the same rotational speed as the fourth gear 155.

[0061] Further, the wire arranging assembly 140 includes a U-shaped bearing 141, a reciprocating lead screw 142, a sixth gear 143, a third transmission belt 144, a third connecting rod 145, a moving block 146, and a wire arranging plate 147. The U-shaped bearing 141 is fixed to one end of the first platform 100. The U-shaped bearing 141 includes two oppositely arranged second baffles 148. Rotating devices 149 are provided on the second baffles 148, and the rotating devices 149 on the two second baffles 148 are oppositely arranged. The first end of the reciprocating lead screw 142 is installed on the rotating device 149 of one second baffle 148, and the second end of the reciprocating lead screw 142 is installed on the rotating device 149 of the other second baffle 148. The sixth gear 143 is sleeved on the second end of the reciprocating lead screw 142, and the number of teeth of the sixth gear 143 is the same as that of the second gear 137. The third transmission belt 144 is meshingly sleeved on the surfaces of the sixth gear 143 and the fifth gear 156. The fifth connecting rod 145 is fixed between the two second baffles 148, and the third connecting rod 145 is arranged in parallel with the reciprocating lead screw 142. The moving block 146 includes a threaded hole (not shown in the figure) and a through hole (not shown in the figure). The reciprocating lead screw 142 is installed in the threaded hole, and the third connecting rod 145 is installed in the through hole. The wire arranging plate 147 is fixed to the moving block 146, and the wire arranging plate 147 is oppositely arranged with the first wire wheel 135 and the second wire wheel 136 of the steering wheel assembly 130.

[0062] In this embodiment, the rotation of the fifth gear 156 drives the sixth gear 143 to rotate through the third transmission belt 144. The rotation of the sixth gear 143 drives the reciprocating lead screw 142 to rotate. The rotation of the reciprocating lead screw 142 causes the moving block 146 to make a reciprocating movement along the axial direction of the reciprocating lead screw 142, and further causes the wire arranging plate 147 to make a reciprocating movement along the axial direction of the reciprocating lead screw 142.

[0063] Further, the wire arranging plate 147 includes a first strip-shaped through hole 183 and a second strip-shaped through hole 184. One end of the cable 170 passes through the first strip-shaped through hole 183 and is wound around the first wire wheel 135; the other end of the cable 170 passes through the second strip-shaped through hole 184 and is wound around the second wire wheel 136.

[0064] In this embodiment, the flexible cable board 147 has two first strip-shaped through holes 183 and two second strip-shaped through holes 184. One end of the cable 170 can pass through the first strip-shaped through hole 183 arbitrarily and be sleeved on the first wire wheel 135, and the other end of the cable 170 can pass through the second strip-shaped through hole 184 arbitrarily and be sleeved on the second wire wheel 136. The number of teeth of the second gear 137 is N times that of the first gear 182. Therefore, the rotational speed of the second gear 137 is 1 / N of the rotational speed of the first gear 182. The number of teeth of the fourth gear 155 is S times that of the third gear 152. The rotational speed of the third gear 152 is the same as that of the second gear 137. Therefore, the rotational speed of the fourth gear 155 is 1 / (N*S) of the rotational speed of the first gear 182. The rotational speeds of the fourth gear 155 and the fifth gear 156 are the same. The number of teeth of the sixth gear 143 is M times that of the fifth gear 156. The rotational speed of the sixth gear 143 is 1 / (N*S*M) of the rotational speed of the first gear 182. Whether the cable 170 on the surface of the first wire wheel 135 is released or recovered, it is ensured that when the cable 170 on the surface of the first wire wheel 135 is released or recovered from one end to the other end, the moving block 146 just drives the flexible cable board 147 to move from one end of the reciprocating lead screw 142 to the other end, avoiding the overlapping of the cables 170 and causing the cables 170 to knot. The principle of the second wire wheel 136 is the same as that of the first wire wheel 135 and will not be elaborated here.

[0065] In the application scenario of the present utility model, for example, when the motor 131 is started and the power output shaft 132 of the motor 131 rotates clockwise or counterclockwise, the first gear 182 rotates synchronously with the power output shaft 132. The rotation of the first gear 182 drives the second gear 137 to rotate through the first transmission belt 139. The rotation of the second gear 137 drives the first rotating shaft 134 to rotate. The rotation of the first rotating shaft 134 drives the first transmission shaft 180 to rotate. The rotation of the first transmission shaft 180 drives the second rotating shaft 181 to rotate. The first wire wheel 135 and the second wire wheel 136 of the first wire wheel assembly 130a and the first wire wheel 135 and the second wire wheel 136 of the second wire wheel assembly 130b rotate coaxially and synchronously at the rotational speed of the second gear 137. At this time, the first wire wheel 135 and the second wire wheel 136 start to wind and unwind the cable 170. The runner 160 rotates synchronously under the drive of the cable 170. The rotation of the first transmission shaft 180 drives the third gear 152 to rotate at the rotational speed of the second gear 137. The rotation of the third gear 152 drives the fourth gear 155 to rotate through the second transmission belt 154. The fifth gear 156 rotates synchronously with the fourth gear 155, and the rotational speeds of the fifth gear 156 and the fourth gear 155 are the same. The rotation of the fifth gear 156 drives the sixth gear 143 to rotate through the third transmission belt 144. The rotation of the sixth gear 143 drives the reciprocating lead screw 142 to rotate. The rotation of the reciprocating lead screw 142 causes the moving block 146 to perform a reciprocating movement along the axial direction of the reciprocating lead screw 142, so that the flexible cable board 147 performs a reciprocating movement along the axial direction of the reciprocating lead screw 142.

[0066] When the first transmission shaft 180 rotates, it drives the first wire wheels 135 and the second wire wheels 136 of the first steering wheel assemblies 130a at both ends of the first platform 110 and the first wire wheels 135 and the second wire wheels 136 of the second steering wheel assemblies 130b to rotate at the same speed. Furthermore, it drives the reciprocating lead screws 142 of the wire arranging assemblies 140 at both ends of the first platform 110 to move at the same speed, so that the wire arranging plates 147 of the wire arranging assemblies 140 at both ends perform reciprocating motions along the axial direction of the reciprocating lead screws 142 at the same moving speed.

[0067] After the motor 131 is started, the cleaning device 310 moves back and forth between the first platform 110 and the second platform 120 driven by the cable 170. During the movement of the cleaning device 310, its rotary brush 313 cleans the photovoltaic panel array 200. If the power output shaft 132 of the motor 131 rotates clockwise after the motor 131 is started, at this time the cleaning device 310 moves from the first platform 110 to the second platform 120. When the cleaning device 310 reaches the second platform 120, the motor 131 is turned off and restarted. At this time, the power output shaft 132 rotates counterclockwise, and the cleaning device 310 starts to move from the second platform 120 to the first platform 110. This process is repeated until the cleaning is completed.

[0068] The advantages of the present application are as follows. A cable device and a robot are provided. The cable device includes a first platform, a second platform, two steering wheel assemblies, two wire arranging assemblies, two transmission assemblies, two runners and two cables. The first platform is installed at one end of a photovoltaic panel array; the second platform is installed at the other end of the photovoltaic panel array. The two steering wheel assemblies are respectively installed at both ends of the first platform, and the two runners are respectively installed at both ends of the second platform. One end of the cable is wound clockwise around a wire wheel of the steering wheel assembly, and the other end is wound counterclockwise around another wire wheel. By controlling the rotation direction of the wire wheels of the steering wheel assembly with the motor, the two wire wheels of the wire wheel assembly are controlled to take in and pay out the wire. During the process of taking in and paying out the cable, the cleaning device of the robot is driven to move on the photovoltaic panel array. During the movement of the cleaning device, the surface of the photovoltaic panel is cleaned, saving labor, time cost and manufacturing cost.

[0069] The above has introduced in detail a cable device and a robot provided by an embodiment of the present utility model. Specific examples are used herein to elaborate on the principle and implementation manner of the present utility model. The description of the above embodiments is only used to help understand the technical solution and its core idea of the present utility model; those of ordinary skill in the art should understand that they can still modify the technical solutions recorded in the foregoing embodiments, or perform equivalent replacements on some of the technical features; and these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present utility model.

Claims

1. A cable device, characterized in that, Comprising: A first platform, installed at one end of a photovoltaic panel array; A second platform, installed at the other end of the photovoltaic panel array, the first platform and the second platform being arranged opposite to each other; Two steering wheel assemblies, namely a first steering wheel assembly and a second steering wheel assembly respectively, the first steering wheel assembly and the second steering wheel assembly being coaxially connected by a first transmission shaft, and the first steering wheel assembly and the second steering wheel assembly being respectively installed at both ends of the first platform; Two wire arranging assemblies, respectively installed at both ends of the first platform, the wire arranging assembly being arranged opposite to the steering wheel assembly; Two transmission assemblies, respectively installed on the top surfaces at both ends of the first platform, the steering wheel assembly being in transmission connection with the transmission assembly, and the wire arranging assembly being in transmission connection with the transmission assembly; Two runners, respectively installed at both ends of the second platform, the runner being arranged opposite to the steering wheel assembly; and Two cables, both ends of the cable being wound around the surface of the steering wheel assembly and the cable being sleeved on the surface of the runner.

2. The cable device according to claim 1, wherein A first C-shaped bracket is respectively provided at both ends of the first platform, the first C-shaped bracket comprising a vertical side and two relatively arranged horizontal sides, the horizontal sides being a first horizontal side and a second horizontal side respectively; The first steering wheel assembly comprises a motor, the motor being fixed to the bottom surface of the first horizontal side; The motor comprises a power output shaft, one end of the power output shaft being installed on the motor and the other end being sleeved with a first gear.

3. The cable device according to claim 2, characterized in that, The first steering wheel assembly comprises Two bearings, namely a first bearing and a second bearing respectively, the first bearing being installed on the top surface of the first horizontal side, and the second bearing being installed on the top surface of the second horizontal side; A first rotating shaft, its first end being rotatably installed on the first bearing, its second end being rotatably installed on the second bearing, and the first end of the first transmission shaft being connected to the first rotating shaft; A first wire wheel, sleeved on the surface of the first rotating shaft, and one end of the cable being wound clockwise around the first wire wheel; A second wire wheel, sleeved on the surface of the first rotating shaft, one end of the first wire wheel being fixedly connected to one end of the second wire wheel, and the other end of the cable being wound counterclockwise around the second wire wheel; A second gear, sleeved on the first end of the first rotating shaft; And A first conveyor belt, meshingly sleeved on the surfaces of the second gear and the first gear.

4. The cable device according to claim 2, wherein The second steering wheel assembly comprises Two bearings, namely a first bearing and a second bearing respectively, the first bearing being installed on the top surface of the first horizontal side, and the second bearing being installed on the top surface of the second horizontal side; A second rotating shaft, its first end being rotatably installed on the first bearing, its second end being rotatably installed on the second bearing, and the second end of the first transmission shaft being connected to the second rotating shaft; A first wire wheel, sleeved on the surface of the second rotating shaft; And A second wire wheel, sleeved on the surface of the second rotating shaft, one end of the first wire wheel being fixedly connected to one end of the second wire wheel.

5. The cable device according to claim 1, characterized in that, The steering wheel assembly comprises The pressing wheel assembly is fixed to the vertical side of the first C-shaped bracket, and the pressing wheel assembly includes: A C-shaped member fixed to the vertical side of the first C-shaped bracket, and the C-shaped member includes two relatively arranged first baffles; A first connecting rod, with both ends thereof respectively fixed to the two relatively arranged first baffles; A second connecting rod, and two wire pressing wheels are rotatably sleeved on the second connecting rod, and the wire pressing wheels abut against the first wire wheel and the second wire wheel of the steering wheel assembly; Two relatively arranged L-shaped arm brackets, including a connecting plate and a sleeve, the first end of the connecting plate is fixed to one end of the first connecting rod, the sleeve is fixed to the second end of the connecting plate, and the sleeve is rotatably sleeved on the first connecting rod; and A torsion spring sleeved on the first connecting rod, and the torsion spring is arranged between the sleeve and the first connecting rod.

6. The cable device according to claim 1, characterized in that, The transmission assembly includes A third bearing fixed to the top surface of one end of the first platform; A third gear sleeved on one end of the first transmission shaft; A second transmission shaft rotatably installed on the third bearing, and a fourth gear and a fifth gear are respectively sleeved on both ends of the second transmission shaft; And A second transmission belt meshingly sleeved on the surfaces of the fourth gear and the third gear.

7. The cable device according to claim 1, characterized in that, The wire arranging assembly includes A C-shaped bearing fixed to one end of the first platform, and the C-shaped bearing includes two relatively arranged second baffles, and a rotating device is provided on the second baffles, and the rotating devices on the two second baffles are relatively arranged; A reciprocating lead screw, the first end of the reciprocating lead screw is installed on the rotating device of one second baffle, and the second end of the reciprocating lead screw is installed on the rotating device of the other second baffle; A sixth gear sleeved on the second end of the reciprocating lead screw; A third transmission belt meshingly sleeved on the surfaces of the sixth gear and the fifth gear; A third connecting rod fixed between the two second baffles, and the third connecting rod is arranged in parallel with the reciprocating lead screw; A moving block, including a threaded hole and a through hole, the reciprocating lead screw is installed in the threaded hole, and the third connecting rod is installed in the through hole; and A wire arranging plate fixed to the moving block, and the wire arranging plate is arranged opposite to the first wire wheel and the second wire wheel of the steering wheel assembly.

8. The cable device according to claim 7, characterized in that, The wire arranging plate includes A first strip-shaped through hole, and one end of the cable passes through the first strip-shaped through hole and is wound around the first wire wheel; and A second strip-shaped through hole, and the other end of the cable passes through the second strip-shaped through hole and is wound around the second wire wheel.

9. A robot, characterized in that, Including The cable device according to any one of claims 1-8; and A cleaning device, with both ends thereof respectively fixed to a cable, and the cleaning device is installed on the surface of a photovoltaic panel array.

10. The robot according to claim 9, characterized in that, The cleaning device includes: A housing; Two moving devices respectively installed at both ends of the housing, and the two cables are fixed to the mutually facing sides of the two moving devices; and A rolling brush rotatably installed between the two moving devices.

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