Cross-array locking device for photovoltaic cleaning robot

Abstract

The utility model relates to the technical field of photovoltaic equipment manufacturing, in particular to a cross-array locking device of a photovoltaic cleaning robot. The first track supports are connected with the photovoltaic panel array, and the second track supports correspond to the first track supports and are connected with the carrying support. The cross-array locking device further comprises a locking assembly. The locking assembly comprises a first limiting block installed on the first rail support. The second limiting block and the telescopic locking part are mounted on the second track bracket; the telescopic locking part is used for penetrating through the second limiting block so as to be limited by the first limiting block. The cross-array locking device has the self-locking capacity after alignment, the path accuracy and stability in the crossing process of the photovoltaic cleaning robot can be guaranteed, and accidents are prevented; in addition, the crossing track of the photovoltaic cleaning robot is not affected.

Description

TECHNICAL FIELD

[0001] The utility model relates to photovoltaic equipment manufacturing technical field, concretely relates to a photovoltaic cleaning robot cross array locking device. BACKGROUND

[0002] In a large photovoltaic power plant, a large number of photovoltaic panels are arranged in a collection to form a photovoltaic panel array. In an open-air working environment, dirt will accumulate on the surface of the photovoltaic panel, thereby forming an obstruction and reducing the utilization rate of sunlight by the photovoltaic panel. Therefore, in order to ensure the power generation capacity of the photovoltaic power plant, manpower or a cleaning robot is required to clean the surface of the photovoltaic panel.

[0003] In the prior art, photovoltaic cleaning robots are widely used. However, how to enable a photovoltaic cleaning robot to cross different photovoltaic panel arrays for cleaning work has become a problem of focus. For example, a Chinese patent document with publication number CN117176055A discloses a mother-daughter type cross-array operation photovoltaic cleaning robot and a control method thereof, wherein the photovoltaic cleaning robot is used as a child vehicle and is placed by a carrier robot serving as a mother vehicle to achieve position crossing. This method uses an additional carrier robot, which not only has a complex structure but also has the disadvantage of high cost.

[0004] In view of the above problems, engineers use a track-type carrier support to quickly transport the photovoltaic cleaning robot, which can be transposed between different photovoltaic panel arrays arranged horizontally. However, the existing track-type carrier support has a simple structure, and the moving support carrying the photovoltaic cleaning robot is generally aligned with the target photovoltaic panel array, and then the photovoltaic cleaning robot is released, so that it climbs onto the target photovoltaic panel array for cleaning work. During the crossing process, the gravity exerted by the heavy photovoltaic cleaning robot on the support rod of the moving support will cause slight deformation of the support rod, thereby reducing the alignment of the moving support with the target photovoltaic panel array, causing the photovoltaic cleaning robot to be misaligned during crossing. This effect may either reduce the crossing speed or even cause the photovoltaic cleaning robot to fall, resulting in property loss. UTILITY MODEL CONTENTS

[0005] The utility model aims at providing a photovoltaic cleaning robot cross array locking device, which has the ability to align and self-lock, can ensure the accuracy and stability of the path during the crossing process of the photovoltaic cleaning robot, and prevent accidents from occurring. In addition, it will not affect the crossing track of the photovoltaic cleaning robot.

[0006] In order to achieve the above-mentioned purpose, the technical scheme adopted by the utility model is as follows:

[0007] The utility model provides a kind of photovoltaic cleaning robot cross array locking device, it is characterized by comprising multiple first track supports connected with photovoltaic panel array and the second track support corresponding with the first track support, and the second track support is connected with the carrying support;The cross array locking device further comprises a locking assembly, the locking assembly comprises first limit block mounted on the first track support;Further comprising second limit block and telescopic locking portion mounted on the second track support;The telescopic locking portion is used to penetrate the second limit block so as to be limited by the first limit block.

[0008] Therefore, the first track support is a fixed extension support on the photovoltaic panel array, the second track support is a fixed extension support on the carrying support, and the photovoltaic cleaning robot is movably mounted on the carrying support. The carrying support is displaced along the track to drive the movement. When the carrying support moves to the alignment position, the first track support and the second track support are completely corresponding in position and height, so that the alignment can be completed.

[0009] The locking assembly is a device for positioning and locking the first track support and the second track support in the utility model. It mainly realizes the locking of the potential radial misalignment of the two. Specifically, the locking assembly comprises first limit block mounted on the first track support; further comprising second limit block and telescopic locking portion mounted on the second track support. The telescopic locking portion is located behind the second limit block, and the first limit block is located in front of the second limit block. The telescopic locking portion has a telescopic structure which is inserted into the second limit block and the first limit block in turn, and completely penetrates the second limit block. The end head is inserted into the first limit block to complete the locking.

[0010] The second limit block mainly functions to limit the telescopic structure of the telescopic locking portion in the telescopic direction, so as to avoid excessive shaking in the radial direction and ensure that the telescopic structure can be accurately inserted into the first limit block. The first limit block mainly functions to lock in the radial direction. When the telescopic structure of the telescopic locking portion is limited by the first limit block, the radial movement tendency of the first track support relative to the second track support is hindered, achieving the target technical effect.

[0011] In summary, through the above-mentioned locking assembly, each group of first track support and second track support can realize the coaxiality of height and provide locking force support. At this time, no matter how the photovoltaic cleaning robot shakes or is affected by gravity during movement, the coaxiality of the first track support and the second track support will not change, so that the movement track of the photovoltaic cleaning robot is accurate and stable.

[0012] As a preferred embodiment of the utility model, the telescopic locking portion comprises a driving portion mounted on the second track support and a locking rod mounted on the driving portion.

[0013] Thus, the driving part is mounted on the second track support, specifically, can be mounted on the butt joint rod extended by the second track support. The driving part can be a motor drive or a cylinder drive in the prior art, wherein a telescopic movable locking rod is mounted, the locking rod is used for moving under the driving action of the driving part, thereby realizing the function of being limited by inserting the first limiting block.

[0014] As a preferred embodiment of the present application, a terminal limiting opening is formed on the first limiting block, a circular opening is arranged on the terminal limiting opening facing the direction of the second limiting block, and the diameter of the circular opening gradually decreases along the advancing direction of the locking rod.

[0015] Thus, the first limiting block is provided with a terminal limiting opening for accommodating the insertion part of the locking rod, a circular opening is arranged on the terminal limiting opening facing the direction of the second limiting block, and the diameter of the circular opening gradually decreases along the advancing direction of the locking rod. Since the locking rod may have slight deviation in angle and position when inserted, the diameter of the circular opening gradually decreases along the advancing direction of the locking rod, which facilitates the initial insertion of the locking rod and ensures stable limiting effect of the terminal, thereby improving the success rate of butt joint.

[0016] As a preferred embodiment of the present application, the terminal limiting opening is a through opening.

[0017] Since the arrangement positions of different first track supports cannot be completely consistent, the longitudinal distance between the second track support and different first track supports inevitably has differences. In order to ensure the insertion and limiting success of the locking rod facing different longitudinal distances, the terminal limiting opening is arranged as a through opening. Thus, the depth of the terminal limiting opening in the second limiting block is not limited, thereby obtaining higher matching and adaptability.

[0018] As a preferred embodiment of the present application, the locking rod comprises a rod body and a tapered protruding head mounted at the terminal end of the rod body.

[0019] Thus, the tapered protruding head is mounted at the terminal end of the rod body, and the inclined surface of the tapered protruding head can help it enter the terminal limiting opening in a sliding posture, thereby ensuring the insertion and limiting success of the locking rod facing different horizontal distances.

[0020] As a preferred embodiment of the present application, the locking rod further comprises a clamping groove arranged between the rod body and the tapered protruding head; the clamping groove is used for clamping the outlet end side wall of the terminal limiting opening.

[0021] Therefore, the rod body and the conical protruding head are provided with a clamping groove, the clamping groove is an inner groove, and the inner groove has an arc-shaped inner recess or a right-angle inner recess, so that when the conical protruding head passes through the outlet of the terminal limiting opening, the conical protruding head can be clamped at the side wall of the outlet end, and a certain degree of anti-falling effect is achieved by relying on friction, thereby achieving a certain degree of axial limiting.

[0022] As a preferred embodiment of the utility model, the first limiting block is provided with a position sensing sensor, which is used to identify the insertion state of the locking rod and send a feedback signal.

[0023] The position sensing sensor can be a photoelectric sensor or a Hall sensor, which can detect the insertion state of the locking rod in a simple form, and send a feedback signal when the locking rod is fully inserted, to inform the cleaning robot device or the worker.

[0024] As a preferred embodiment of the utility model, the first limiting block is provided with an LED indicator light, which is used to control the light warning according to the feedback signal.

[0025] The LED indicator light is connected with the position sensing sensor and can be controlled to emit light after receiving the feedback signal, to visually inform the worker that the limiting state exists at this time.

[0026] As a preferred embodiment of the utility model, the side surface of the second limiting block facing the direction of the first limiting block is provided with a through-type cleaning element, the locking rod passes through the through-type cleaning element and is subjected to extrusion friction cleaning, to ensure that the conical protruding head is smoothly inserted into the terminal limiting opening and completes clamping locking.

[0027] Since the photovoltaic power plant is usually built in the wild with relatively harsh natural environment but sufficient light resources, although the terminal limiting opening of the device is provided with a circular opening facing the direction of the second limiting block, and the diameter of the circular opening gradually decreases along the advancing direction of the locking rod, the smooth insertion of the conical protruding head is ensured to a large extent, but the attachment of sand and dirt in the wild on the locking rod still has a probability to cause the insertion of the locking rod to be blocked or stuck, at which time manual troubleshooting wastes human resources, therefore, the through-type cleaning element is arranged on the side surface of the second limiting block facing the direction of the first limiting block, and the through-type cleaning element can be a plastic scraper or a rubber scraper, which performs a scraping operation on the locking rod every time the locking rod moves, to perform cyclic cleaning, and to ensure that the conical protruding head can be smoothly inserted into the terminal limiting opening and complete clamping locking.

[0028] As a preferred embodiment of the utility model, the through-type cleaning element is a rubber scraper, a circular accommodating opening for the locking rod to pass through is formed in the center of the rubber scraper, and the diameter of the circular accommodating opening is smaller than the rod body diameter of the locking rod.

[0029] The diameter of the circular accommodating port is smaller than the rod body diameter of the locking rod, and because the rubber material has elasticity, the side wall of the circular accommodating port can rub against the rod body of the locking rod and clean each part of the locking rod by using the generated friction force, so that the cleaning is more thorough.

[0030] In summary, the utility model has the beneficial effects that:

[0031] By the locking assembly, the coaxiality of the first track support and the second track support is achieved, and the locking assembly provides support for the locking force, so that the coaxiality of the first track support and the second track support is not changed when the photovoltaic cleaning robot moves, and the transfer track of the photovoltaic cleaning robot is accurate and stable. BRIEF DESCRIPTION OF DRAWINGS

[0032] Figure 1 It is a schematic diagram of the overall structure of the cross array locking device;

[0033] Figure 2 It is a schematic diagram of the structure of the locking assembly;

[0034] Figure 3 It is a combined schematic diagram of the telescopic locking part and the first limiting block;

[0035] Figure 4 It is a connection schematic diagram of the tapered protruding head and the clamping groove;

[0036] Figure 5 It is a schematic diagram of the terminal limiting port on the first limiting block;

[0037] Figure 6 It is a schematic diagram of the outlet of the terminal limiting port;

[0038] Figure 7 It is a schematic diagram of the through-type cleaning piece.

[0039] In the figure: first track support 1, second track support 2, locking assembly 3, first limiting block 31, second limiting block 32, telescopic locking part 33, driving part 331, locking rod 332, rod body 3321, tapered protruding head 3322, clamping groove 3323, terminal limiting port 4, through-type cleaning piece 5. DETAILED DESCRIPTION

[0040] The preferred embodiments of the present disclosure will be described in more detail below with reference to the accompanying drawings. Anyone can implement the present disclosure in various forms without being limited by the embodiments set forth herein. On the contrary, these embodiments are provided to make the present disclosure more thorough and complete, and to fully convey the scope of the present disclosure to those skilled in the art.

[0041] In the description of the embodiments of the present application, it should be noted that, unless otherwise clearly specified and limited, the terms "mounting", "connecting" should be understood in a broad sense, for example, "connecting" can be detachable connection, or can be non-detachable connection; can be direct connection, or can be indirect connection through intermediate medium. Among them, "fixed connection" refers to the connection of each other and the relative positional relationship after connection. It should be understood that when component A is fixedly connected with component C through component B, the relative positional relationship change due to the deformation of component A, component B and component C is allowed. "Rotary connection" refers to the connection of each other and the relative rotation after connection. "Sliding connection" refers to the connection of each other and the relative sliding after connection. Among them, the integrated structure of two components obtained by one-piece forming process refers to the process of forming one of the two components, that is, the component is connected with the other component, and the two components do not need to be connected together by reprocessing (such as bonding, welding, buckle connection, screw connection).

[0042] In one possible embodiment, as shown in Figure 1 , Figure 2 and Figure 3 , the first track bracket 1 is fixed on the photovoltaic panel array, the second track bracket 2 is fixed on the carrying bracket, and the photovoltaic cleaning robot is movably mounted on the carrying bracket. The carrying bracket drives the movement along the track when the carrying bracket moves to the alignment position. Because the first track bracket 1 and the second track bracket 2 completely correspond in position and height, the alignment can be completed exactly.

[0043] The locking assembly 3 is a device for positioning and locking the first track bracket 1 and the second track bracket 2 in the device, which mainly realizes the locking of the potential radial misalignment of the two. Specifically, the locking assembly 3 comprises a first limiting block 31 mounted on the first track bracket; it also comprises a second limiting block 32 mounted on the second track bracket 2 and a telescopic locking part 33. The telescopic locking part 33 is located behind the second limiting block 32, the first limiting block 31 is located in front of the second limiting block 32, the telescopic locking part 33 has a telescopic structure, which is inserted into the second limiting block 32 and the first limiting block 31 in turn, and completely passes through the second limiting block 32, and the end head is inserted into the first limiting block 31, and the locking is completed.

[0044] The telescopic locking part 33 comprises a driving part 331 mounted on the second track bracket 2 and a locking rod 332 mounted on the driving part 331. The driving part 331 is mounted on the second track bracket 2, specifically on the butt joint rod extended from the second track bracket 2. The driving part 331 can be a motor drive or a cylinder drive in the prior art, wherein the telescopic locking rod 332 is installed. The locking rod 332 is used to move under the driving action of the driving part 331, so as to realize the function of being limited by inserting the first limiting block 31.

[0045] The second limiting block 32 mainly functions to limit the structure that can be telescopically movable in the telescopic direction, so as to avoid excessive shaking in the radial direction and ensure that it can be accurately inserted into the first limiting block 31. The first limiting block 31 mainly functions to lock in the radial direction, and is fixed to different two track supports, respectively. When the structure that can be telescopically movable of the telescopic locking part 33 is limited by the first limiting block 31, the radial movement tendency of the first track support 1 relative to the second track support 2 is hindered, and the target technical effect is achieved.

[0046] As shown in Figure 5 and Figure 6 , the first limiting block 31 is provided with a terminal limiting opening 4, and the terminal limiting opening 4 is provided with a circular opening facing the second limiting block 32, and the diameter of the circular opening gradually decreases along the advancing direction of the locking rod 332. Thus, the first limiting block 31 is provided with a terminal limiting opening 4 for accommodating the insertion part of the locking rod 332, and the terminal limiting opening 4 is provided with a circular opening facing the second limiting block 32, and the diameter of the circular opening gradually decreases along the advancing direction of the locking rod 332; since the angle and position may be slightly offset when the locking rod 332 is inserted, at this time, since the diameter of the circular opening gradually decreases along the advancing direction of the locking rod 332, it is more convenient for the locking rod 332 to be initially inserted, and the stable limiting effect of the terminal is also ensured, and the success rate of docking is comprehensively improved.

[0047] In another possible embodiment, as shown in Figure 5 , the terminal limiting opening 4 is a through opening. Since the arrangement positions of different first track supports 1 cannot be completely consistent, the longitudinal spacing between the second track support 2 and different first track supports 1 inevitably has differences, in order to ensure the insertion and limiting success of the locking rod 332 facing different longitudinal spacings, the terminal limiting opening 4 is set to be a through opening. Thus, the depth of the terminal limiting opening 4 in the second limiting block 32 is not limited, so as to obtain higher matching and adaptability.

[0048] In another possible embodiment, as shown in Figure 4 , the locking rod 332 comprises a rod body 3321 and a tapered protruding head 3322 installed at the end of the rod body 3321. Thus, the tapered protruding head 3322 is installed at the end of the rod body 3321, and the slope of the tapered protruding head 3322 can help it enter the terminal limiting opening 4 in a sliding posture, so as to ensure the insertion and limiting success of the locking rod 332 facing different transverse spacings.

[0049] In another possible embodiment, as shown in Figure 4As shown, the locking rod 332 further comprises a clamping groove 3323 arranged between the rod body 3321 and the tapered protruding head 3322; the clamping groove 3323 is used to clamp the outlet end side wall of the terminal limiting port 4. Thus, the clamping groove 3323 is arranged between the rod body 3321 and the tapered protruding head 3322, and the clamping groove 3323 is an inner recess with an arc-shaped inner recess surface or a right-angled inner recess surface, so that when the tapered protruding head 3322 penetrates out of the outlet of the terminal limiting port 4, it can be clamped at the outlet end side wall and achieve a certain degree of anti-falling effect by relying on friction, thereby achieving a certain degree of axial limiting.

[0050] In another possible embodiment, a position-sensitive sensor is arranged in the first limiting block 31, which is used to identify the insertion state of the locking rod 332 and send a feedback signal. The position-sensitive sensor can be an optical or Hall type sensor, which can simply detect the insertion state of the locking rod 332 and send a feedback signal when it is fully inserted, to inform the cleaning robot device or the staff.

[0051] In another possible embodiment, an LED indicator light is arranged on the first limiting block 31, which is used to control the light warning according to the feedback signal. The LED indicator light is connected with the position-sensitive sensor and can be controlled to emit light after receiving the feedback signal, to visually inform the staff that this is a limiting state.

[0052] In another possible embodiment, a through-type cleaning piece 5 is arranged on the side of the second limiting block 32 facing the first limiting block 31, and the locking rod 332 passes through the through-type cleaning piece 5 and is subjected to extrusion friction cleaning, to ensure that the tapered protruding head 3322 can be smoothly inserted into the terminal limiting port 4 and complete the clamping locking.

[0053] Since photovoltaic power plants are usually built in the wild where the natural environment is relatively harsh but the light resources are sufficient, although the terminal limiting port 4 of the device is arranged with a circular opening facing the second limiting block 32, and the diameter of the circular opening gradually decreases along the advancing direction of the locking rod 332, which largely ensures the smooth insertion of the tapered protruding head 3322, but the attachment of sand and dirt in the wild on the locking rod 332 still has a probability to cause the locking rod 332 to be blocked or stuck during long-term use, at which time manual troubleshooting wastes human resources, therefore, the through-type cleaning piece 5 is arranged on the side of the second limiting block 32 facing the first limiting block 31, which can be a plastic blade or a rubber blade, and performs a scraping operation on the locking rod 332 every time it moves, for cyclic cleaning, to ensure that the tapered protruding head 3322 can be smoothly inserted into the terminal limiting port 4 and complete the clamping locking.

[0054] In another possible embodiment, the through-type cleaning member 5 is a rubber blade with a circular accommodating hole in the center for the locking rod 332 to pass through, and the diameter of the circular accommodating hole is smaller than the rod body diameter of the locking rod 332.

[0055] The diameter of the circular accommodating hole is smaller than the rod body diameter of the locking rod 332, and because the rubber material is elastic, this arrangement can ensure that the sidewall of the circular accommodating hole abuts against the rod body of the locking rod 332 and uses the generated friction force to scrape and clean each part of the locking rod, which is more clean and thorough.

[0056] The above description is merely specific embodiments of the present application, but the protection scope of the present application is not limited thereto, and any person skilled in the art can easily think of changes or replacements within the technical scope disclosed by the present application, which should be covered within the protection scope of the present application; in the case of no conflict, the embodiments of the present application and the features in the embodiments can be combined with each other. The structural member materials, sizes, shapes, etc. mentioned in the embodiments of the present application are all illustrative descriptions, and do not form strict or absolute limitations. Therefore, the protection scope of the present application should be subject to the protection scope of the claims.

Claims

1. A photovoltaic cleaning robot cross-array locking device, characterized by, The cross-array locking device of the photovoltaic cleaning robot comprises a plurality of first track supports (1) connected with a photovoltaic panel array and a plurality of second track supports (2) corresponding to the first track supports (1) and connected with a carrying support; the cross-array locking device further comprises a locking assembly (3), wherein the locking assembly (3) comprises a first limiting block (31) mounted on the first track support (1); the locking assembly (3) further comprises a second limiting block (32) and a telescopic locking part (33) mounted on the second track support (2); the telescopic locking part (33) is used for penetrating through the second limiting block (32) to be connected with the first limiting block (31).

2. A photovoltaic cleaning robot cross-array locking device according to claim 1, wherein, The telescopic locking part (33) comprises a driving part (331) mounted on the second track support (2) and a locking rod (332) mounted on the driving part (331).

3. A photovoltaic cleaning robot cross-array locking device according to claim 2, wherein, The first limiting block (31) is provided with a terminal limiting opening (4), and the terminal limiting opening (4) is provided with a circular opening facing the direction of the second limiting block (32), and the diameter of the circular opening gradually decreases along the advancing direction of the locking rod (332).

4. A photovoltaic cleaning robot cross-array locking device according to claim 3, wherein, The terminal limiting opening (4) is a through opening.

5. A photovoltaic cleaning robot cross-array locking device according to claim 4, wherein, The locking rod (332) comprises a rod body (3321) and a tapered protruding head (3322) mounted at the end of the rod body (3321).

6. A photovoltaic cleaning robot cross-array locking device according to claim 5, wherein, The locking rod (332) further comprises a clamping groove (3323) arranged between the rod body (3321) and the tapered protruding head (3322); the clamping groove (3323) is used for clamping the side wall of the outlet end of the terminal limiting opening (4).

7. A photovoltaic cleaning robot cross-array locking device according to claim 2, wherein, The first limiting block (31) is provided with a position sensing sensor, which is used for identifying the insertion state of the locking rod (332) and sending a feedback signal.

8. A photovoltaic cleaning robot cross-array locking device according to claim 7, wherein, The first limiting block (31) is provided with an LED indicator light, which is used for controlling the light warning according to the feedback signal.

9. The photovoltaic cleaning robot cross-array locking device of claim 6, wherein, The second limiting block (32) is provided with a through cleaning piece (5) on the side surface facing the direction of the first limiting block (31), the locking rod (332) penetrates through the through cleaning piece (5) and is subjected to extrusion friction cleaning, so that the tapered protruding head (3322) is smoothly inserted into the terminal limiting opening (4) and is clamped and locked.

10. A photovoltaic cleaning robot cross-array locking device according to claim 9, wherein, The through cleaning piece (5) is a rubber wiper, and a circular accommodating opening for the locking rod (332) is formed in the center of the rubber wiper, and the diameter of the circular accommodating opening is smaller than the diameter of the rod body of the locking rod (332).

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