Obstacle crossing type fixed photovoltaic cleaning robot track structure

Abstract

The utility model discloses an obstacle crossing type fixed photovoltaic cleaning robot track structure, which relates to the technical field of cleaning robots and comprises a motor box and belt sleeve shells mounted on two sides of the motor box, driving wheels are arranged at two ends of each belt sleeve shell, a track is connected between the driving wheels at two ends, and the motor box is connected with the motor box. An auxiliary supporting wheel assembly and a crawler belt tensioning assembly are arranged on the motor box, it can be guaranteed that the photovoltaic cleaning robot crosses an obstacle by 30 cm through the lengthened multi-supporting-point crawler belt structure, the contact area between the crawler belt structure and a photovoltaic panel is large, friction force is large, the climbing and obstacle crossing capacity is excellent, and the robot can stably run on a steep slope. On an uneven photovoltaic panel, the crawler-type drive can provide better balance and stability, and the risk that the machine falls off due to vibration and jolt caused by gaps and height differences of the photovoltaic panel can be well avoided.

Description

Technical Field

[0001] The utility model relates to the technical field of cleaning robots, and particularly relates to a crawler structure of a cross-obstacle fixed photovoltaic cleaning robot. Background Art

[0002] Facing the rapid development of the solar photovoltaic industry, the strong drive of new energy policies has led to an unprecedented expansion of its scale. Subsequently, the problem of photovoltaic panel cleaning has become increasingly prominent, becoming the core issue of optimizing energy efficiency and reducing operation and maintenance costs. The traditional manual cleaning mode exposes disadvantages such as low efficiency, high cost, and waste of water resources. Especially in complex terrains or high-altitude scenarios, safety becomes a hidden danger. Against this background, the research and development of automatic photovoltaic panel cleaning robots has emerged, aiming to solve the cleaning problem with an automated solution. However, a major challenge encountered in implementation lies in the diverse layouts and non-standard installations of photovoltaic modules. Affected by construction variables and geographical conditions, the inconsistencies in their angles and heights limit the possibility of widespread application of general-purpose cleaning robots.

[0003] At present, the relatively common photovoltaic cleaning robots in China are single-row fixed cleaning robots. Traditional single-row fixed cleaning robots generally move by means of walking wheels. Although wheeled drive may perform well on flat hard ground, due to the installation error of photovoltaic panels, there may be misalignments resulting in steps between photovoltaic panels, which the wheels cannot cross, limiting their passing ability. Due to the large inclination angles that may occur in the installation of photovoltaic arrays affected by terrain, the contact area of wheeled drive is small, and problems such as slipping or insufficient traction may be encountered when climbing slopes. Moreover, when installing photovoltaic panel arrays in many photovoltaic power stations, a gap of about 20 - 30 cm is left at intervals, and ordinary traditional single-row fixed cleaning robots simply cannot cross it. Summary of the Utility Model

[0004] Utility Model Objective: The technical problem to be solved by the utility model is to provide a crawler structure of a cross-obstacle fixed photovoltaic cleaning robot, which solves the problems that existing single-row fixed cleaning robots are prone to slipping and cannot cross gaps.

[0005] Technical Solution

[0006] To solve the above problems, the technical solution provided by the utility model is as follows:

[0007] A crawler structure of a cross-obstacle fixed photovoltaic cleaning robot includes a motor box, and belt sheaths installed on both sides of the motor box. Driving wheels are provided at both ends of the belt sheaths, and a crawler is connected between the driving wheels at both ends. An auxiliary support wheel assembly and a crawler tensioning assembly are provided on the motor box.

[0008] Furthermore, both the auxiliary support wheel assembly and the crawler tensioning assembly are located inside the crawler.

[0009] Further, the auxiliary support wheel assembly is located on the side of the crawler for contacting the movement, and the crawler tensioning assembly is located on the other side.

[0010] Further, the auxiliary support wheel assembly includes a mounting bracket, the mounting bracket is a frame with an open side structure, a support wheel is rotatably mounted in the mounting bracket, the support wheel is arranged on an inner threaded rod, the inner threaded rod is mounted in the mounting bracket, and spacer rings are arranged on both sides of the support wheel.

[0011] Further, the inner threaded rod is mounted in the mounting bracket through threaded cooperation with the inner threaded rod with the support wheel.

[0012] Further, the crawler tensioning assembly includes a mounting and fixing bracket, the mounting and fixing bracket is a frame with an open side structure, a sliding bracket is arranged in the mounting and fixing bracket, the sliding bracket slides in the mounting and fixing bracket, a chute for the sliding bracket to slide is arranged on the side of the mounting and fixing bracket, a tensioning synchronous wheel is rotatably arranged in the sliding bracket, and bearings that can be inserted into the chute can be arranged on both sides of the rotating shaft of the tensioning synchronous wheel.

[0013] Further, the bearings on both sides of the tensioning synchronous wheel are fixed in the chute of the mounting and fixing bracket through threaded cooperation.

[0014] A cross-obstacle fixed photovoltaic cleaning robot includes the above-mentioned cross-obstacle fixed photovoltaic cleaning robot crawler structure.

[0015] Beneficial effects

[0016] Adopting the technical solution provided by the present utility model, compared with the prior art, it has the following beneficial effects:

[0017] The present utility model provides a cross-obstacle fixed photovoltaic cleaning robot crawler structure. The lengthened multi-support point crawler structure can ensure that the photovoltaic cleaning robot can achieve a 30-cm cross-obstacle. The crawler structure can evenly distribute the vehicle weight, reduce the pressure, adapt to various different specifications of photovoltaic panels, and can move normally on uneven flat surfaces due to installation errors, with extremely strong passability. The contact area between the crawler structure and the photovoltaic panel surface is large, the friction force is large, and the climbing and cross-obstacle capabilities are excellent, and it can drive stably on steep slopes. On uneven photovoltaic panels, the crawler drive can provide better balance and stability, and can well avoid the risk of the machine falling caused by vibrations and bumps due to the gaps and height differences of the photovoltaic panels. Description of the drawings

[0018] Figure 1 It is a schematic structural diagram of Embodiment 1 of the present utility model;

[0019] Figure 2 Schematic diagram of the motor box of Embodiment 1 of the present utility model;

[0020] Figure 3 Internal structure diagram of the motor box of Embodiment 1 of the present utility model;

[0021] Figure 4 Exploded structure diagram of the auxiliary support wheel assembly of Embodiment 1 of the present utility model;

[0022] Figure 5 Structure diagram of the auxiliary support wheel assembly of Embodiment 1 of the present utility model;

[0023] Figure 6 Structure diagram of the track tensioning assembly of Embodiment 1 of the present utility model. Detailed implementation manners

[0024] To make the technical solution of the present utility model clearer, the following further describes the present utility model in detail with reference to the accompanying drawings and specific embodiments.

[0025] Embodiment 1

[0026] Combined with the attached Figure 1-6 , a track structure of a cross-obstacle fixed photovoltaic cleaning robot is used as a local component of the cleaning robot, and is mainly applied to the walking component on the upper side of the cross-obstacle fixed photovoltaic cleaning robot. The walking component is mainly responsible for providing power and support for the entire cleaning robot, and includes a motor box 11 and belt sleeve cases 16 located on both sides of the motor box and communicating with the motor box. A surface driving wheel 12 is provided on the surface of the motor box 11. The surface driving wheels 12 are symmetrically arranged on both sides of the surface of the motor box 11. A driving motor 13 corresponding to the symmetrically arranged surface driving wheels 12 is provided in the motor box 11. The driving motor 13 corresponding to the symmetrically arranged surface driving wheels 12 drives the symmetric surface driving wheels 12 on both sides to rotate synchronously. Symmetrically arranged surface driving wheels 12 are provided with surface driven wheels 14 at the ends of the belt sleeve cases 16 on both sides of the motor box 11.

[0027] Coaxial transmission wheels are provided on the rotating shafts of the surface driving wheels 12 and the surface driven wheels 14 located in the motor box 11 and the belt sleeve cases 16. Transmission belts 15 are connected between the transmission wheels of the symmetrically arranged surface driving wheels 12 and the transmission wheels of the corresponding surface driven wheels 14 on one side. The surface driving wheels 12 drive the surface driven wheels 14 to rotate synchronously through the transmission belts 15. The transmission belts for transmission are installed in the belt sleeve cases 16.

[0028] Driving wheels 21 are provided at the side ends of the symmetrically arranged belt sleeve cases 16. The surfaces where the two driving wheels 21 are located are perpendicular to the surface where the surface driving wheels 12 are located, and the surfaces where the two driving wheels 21 are located overlap. A track 22 is connected between the two driving wheels 21.

[0029] A reversing transmission component 18 is provided between the driving wheel 21 and the surface driven wheel 14. The reversing transmission component 18 can vertically transfer the power of the surface driven wheel 14 to the driving wheel 22 so that the driving wheel 22 rotates synchronously with the surface driven wheel 14. The reversing transmission component 18 can be selected as a bevel gear or helical gear matched with a gear, as well as a universal coupling, etc.

[0030] The track 22 is used to provide friction to convert the rotational motion of the motor into linear motion, providing power for the machine to move. The drive wheel 21 is used to provide support and power to the track 22. The drive motor 13 provides torque to the track 22 through the drive wheel 21, and provides support to the track 22 at the same time.

[0031] The driving motor 13 first drives the surface driving wheel 12 to rotate, and the surface driving wheel 12 rotates to drive the surface driven wheel 14 to rotate through the transmission belt 15. Since a reversing transmission component is provided between the surface driven wheel 14 and the driving wheel 21, the surface driven wheel 14 drives the driving wheel 21 to rotate, thereby driving the crawler 22 to rotate, so that the walking component starts to drive the cleaning robot to move.

[0032] An auxiliary support wheel assembly 300 is provided on the side of the top of the motor box 11 close to the surface driving wheel 12, and a track tensioning assembly 400 is provided on the side of the top of the motor box 11 away from the surface driving wheel 12. The auxiliary support wheel assembly 300 and the track tensioning assembly 400 both include pulleys that rotate synchronously with the track 22, which are a support wheel 305 and a tensioning synchronous wheel 403 respectively. The support wheel 305 and the tensioning synchronous wheel 403 are both located inside the track 22.

[0033] The auxiliary support wheel assembly 300 is used to provide support for the middle part of the track 22 to ensure that the machine will not fall due to the lack of support in the middle part of the track during the obstacle crossing process. The track tensioning assembly 400 is used to tension the track 22 to ensure that there is no risk of the track loosening during operation.

[0034] The auxiliary support wheel assembly 30 includes a mounting bracket 307 for mounting the support wheel 305. The mounting bracket 307 is fixedly mounted on the top of the motor box 11. The mounting bracket 307 is fixedly mounted on the top of the motor box 11 through hexagon studs 304. The mounting bracket 307 is a frame with an open side structure. The opening of the mounting bracket 307 faces the side of the crawler 22 in contact with the surface side of the photovoltaic panel. The support wheel 305 is rotatably mounted in the mounting bracket 207. An internal threaded rod 303 is provided in the mounting bracket 307. At least one support wheel 305 is provided on the internal threaded rod 303. Preferably, two support wheels 305 are arranged side by side on the internal threaded rod 303. Each support wheel 305 is provided with a spacer ring on the internal threaded rod 303. When two support wheels 305 are provided, a separation spacer ring 302 is arranged between the two support wheels 305. Support spacer rings 301 are arranged between the two support wheels 305 and the side wall of the mounting bracket 307. When only one support wheel 305 is provided, support spacer rings 301 are arranged between the two sides of the support wheel 305 and the side wall of the mounting bracket 307. The internal threaded rod 303 is threadedly engaged with the screw 306 to mount the internal threaded rod 303 with the support wheel 305 in the mounting bracket 307.

[0035] The crawler tensioning assembly 40 includes a mounting and fixing bracket 401. The mounting and fixing bracket 401 is fixedly mounted on the top of the motor box 11. The mounting and fixing bracket 401 is also a frame with an open side structure. The opening of the mounting and fixing bracket 401 faces the side of the crawler 22 not in contact with the surface side of the photovoltaic panel. A sliding bracket 402 is provided in the mounting and fixing bracket 401. The sliding bracket 402 slides forward or backward in the mounting and fixing bracket 401 parallel to the opening direction of the mounting and fixing bracket 401. A sliding groove for the sliding bracket 402 to slide is provided on the side of the mounting and fixing bracket 401. A tensioning synchronous wheel 403 is rotatably provided in the sliding bracket 402. Bearings that can be inserted into the sliding groove can be arranged on both sides of the rotating shaft of the tensioning synchronous wheel 403. The bearings on both sides of the tensioning synchronous wheel 403 are fixed to the mounting and fixing bracket 401 through screws 405 with washers, so that the sliding bracket 402 and the tensioning synchronous wheel 403 are fixed in the mounting and fixing bracket 401 together. At this time, the tensioning synchronous wheel 403 can only rotate and cannot slide in the mounting and fixing bracket 401 through the sliding bracket 402. A tensioning screw 404 penetrating the inner side of the mounting and fixing bracket 401 is provided on the inner side surface of the sliding bracket 402. Workers can rotate the tensioning screw 404 to control the sliding direction and sliding distance of the sliding bracket 402 through the thread on the tensioning screw 404. After determining the position of the tensioning synchronous wheel 403 in the sliding bracket 402, the sliding bracket 402 is fixed in the mounting and fixing bracket 401 through screws 405 with washers.

[0036] Embodiment 2

[0037] A cross-obstacle fixed photovoltaic cleaning robot, including the crawler structure of the cross-obstacle fixed photovoltaic cleaning robot in Embodiment 1.

[0038] The above embodiments only express several implementation manners of the present utility model, and the description thereof is relatively specific and detailed. However, it should not be construed as a limitation on the scope of the patent of the present utility model. It should be noted that for those of ordinary skill in the art, without departing from the concept of the present utility model, several deformations and improvements can still be made, and these all belong to the protection scope of the present utility model. Therefore, the protection scope of the patent of the present utility model shall be subject to the appended claims.

Claims

1. A crawler structure of a cross-obstacle fixed photovoltaic cleaning robot, characterized in that, It includes a motor box, and belt housing sleeves installed on both sides of the motor box. Driving wheels are provided at both ends of the belt housing sleeves, and a crawler is connected between the driving wheels at both ends. An auxiliary support wheel assembly and a crawler tensioning assembly are provided on the motor box.

2. The crawler structure of a cross-obstacle fixed photovoltaic cleaning robot according to claim 1, wherein, Both the auxiliary support wheel assembly and the crawler tensioning assembly are located inside the crawler.

3. The crawler structure of a cross-obstacle fixed photovoltaic cleaning robot according to claim 2, wherein, The auxiliary support wheel assembly is located on the side of the crawler for contacting the movement, and the crawler tensioning assembly is located on the other side.

4. A crawler structure of a cross-obstacle fixed photovoltaic cleaning robot according to claim 1, wherein The auxiliary support wheel assembly includes a mounting bracket, the mounting bracket is a frame with an open side structure, a support wheel is rotatably installed inside the mounting bracket, the support wheel is arranged on an inner threaded rod, the inner threaded rod is installed inside the mounting bracket, and spacer rings are provided on both sides of the support wheel.

5. The crawler structure of a cross-obstacle fixed photovoltaic cleaning robot according to claim 4, characterized in that, The inner threaded rod with the support wheel is installed inside the mounting bracket through thread fitting.

6. The crawler structure of a cross-obstacle fixed photovoltaic cleaning robot according to claim 1, wherein, The crawler tensioning assembly includes a mounting and fixing bracket, the mounting and fixing bracket is a frame with an open side structure, a sliding bracket is provided inside the mounting and fixing bracket, the sliding bracket slides inside the mounting and fixing bracket, a sliding groove for the sliding bracket to slide is provided on the side of the mounting and fixing bracket, a tensioning synchronous wheel is rotatably provided inside the sliding bracket, and bearings that can be inserted into the sliding groove can be arranged on both sides of the rotating shaft of the tensioning synchronous wheel.

7. The crawler structure of a cross-obstacle fixed photovoltaic cleaning robot according to claim 6, characterized in that, The bearings on both sides of the tensioning synchronous wheel are fixed inside the sliding groove of the mounting and fixing bracket through thread fitting.

8. A cross-obstacle fixed photovoltaic cleaning robot, characterized in that, It includes the crawler structure of the obstacle-crossing fixed photovoltaic cleaning robot according to any one of claims 1-7 above.

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