Self-adaptive ferry vehicle for flat single-axis photovoltaic panel cleaning robot

Abstract

The utility model discloses a self-adaptive ferry vehicle for a flat single-axis photovoltaic panel cleaning robot, and belongs to the technical field of photovoltaic panel cleaning equipment. The rotating device is installed at the top of the ferry vehicle body, the angle adjusting device is installed on the rotating device and rotates in the horizontal plane along with the rotating device, the bearing frame is installed on the angle adjusting device and rotates in the vertical plane along with the angle adjusting device in a reciprocating mode, and a bearing part used for bearing the cleaning robot is arranged at the top of the bearing frame. According to the self-adaptive ferry vehicle for the flat single-axis photovoltaic panel cleaning robot, the rotating device can drive the bearing device to rotate in the horizontal plane, so that the posture of the bearing frame is adjusted to ensure that the bearing frame can be aligned with the corresponding row of photovoltaic panels, and the angle adjusting device can adjust the included angle between the bearing frame and the horizontal plane; therefore, it can be guaranteed that the bearing frames are parallel to the corresponding photovoltaic panels, the cleaning robot can smoothly move to the photovoltaic panels from the bearing frames, the cleaning robot can adapt to cleaning of the photovoltaic panels at different angles, and the application range is wide.

Description

TECHNICAL FIELD

[0001] The adaptive shuttle vehicle for flat single-axis photovoltaic panel cleaning robot belongs to the technical field of photovoltaic panel cleaning equipment. BACKGROUND

[0002] After the photovoltaic panel is used for a period of time, dust is easily attached to the photovoltaic panel, thereby affecting the power generation efficiency of the photovoltaic panel, so it is necessary to clean the photovoltaic panel.

[0003] At present, the photovoltaic panel is usually cleaned by manual cleaning or robot cleaning. The manual cleaning is mainly through high-pressure water gun washing, and the cleaning effect is poor. Moreover, due to the high pressure of the high-pressure water gun, the photovoltaic panel is easily damaged during cleaning. The robot cleaning is usually through the shuttle vehicle to transport the robot. The shuttle vehicle is arranged on one side of the photovoltaic panel and sequentially transports the robot to be aligned with each row of photovoltaic panels. When the robot is aligned with a corresponding row of photovoltaic panels, the robot is on the upper side of the photovoltaic panel when moving from the shuttle vehicle, and moves along the row of photovoltaic panels to complete the cleaning of the photovoltaic panel. At present, the robot cleaning is the main cleaning method.

[0004] The inventor finds that when the photovoltaic panel is installed, the rows of photovoltaic panels are not completely aligned. Moreover, in order to improve the power generation efficiency, the angle of part of the photovoltaic panels is adjusted according to the angle of light, that is, the angle of the photovoltaic panel is different at different times of the day, and the angle of the photovoltaic panel is also different in different seasons, which brings difficulties to the work of the cleaning robot. Due to the irregular arrangement between the two adjacent rows of photovoltaic panels, and the angle of the adjacent photovoltaic panels is adjustable, the shuttle vehicle can only transport the robot to one end of a corresponding row of photovoltaic panels, but cannot guarantee that the robot is aligned with the photovoltaic panel, which causes the robot to be unable to smoothly move from the shuttle vehicle to the upper side of the photovoltaic panel, and further causes the robot to be unable to complete the cleaning of the photovoltaic panel. CONTENT OF THE UTILITY MODEL

[0005] The technical problem to be solved by the utility model is to overcome the shortcomings of the prior art, provide a flat single-axis photovoltaic panel cleaning robot adaptive shuttle vehicle which can adjust the attitude of the supporting frame according to the attitude of the photovoltaic panel to ensure that the cleaning robot can smoothly move to the photovoltaic panel, and can adapt to the cleaning of photovoltaic panels with different angles.

[0006] The utility model adopts the technical scheme that the flat single-axis photovoltaic panel cleaning robot adaptive shuttle vehicle comprises a shuttle vehicle main body, a supporting frame, an angle adjusting device and a rotating device, the rotating device is installed at the top of the shuttle vehicle main body, the angle adjusting device is installed on the rotating device and rotates in the horizontal plane, the supporting frame is installed on the angle adjusting device and reciprocatingly rotates in the vertical plane, and a supporting part for supporting the cleaning robot is arranged at the top of the supporting frame.

[0007] Further, the rotating device comprises a rotating frame and a rotating driving device, the bottom of the rotating frame is rotatably installed on the transfer vehicle body, the angle adjusting device is installed on the top of the rotating frame, and the rotating driving device is connected with the rotating frame and drives the rotating frame to rotate.

[0008] Further, the rotating device further comprises a rotating seat, the rotating seat is fixedly installed on the bottom of the rotating frame, the rotating seat is rotatably connected with the transfer vehicle body, and a limiting assembly is arranged between the rotating seat and the transfer vehicle body.

[0009] Further, the limiting assembly comprises a limiting long hole arranged on the rotating seat and a limiting pin arranged on the transfer vehicle body, the limiting long hole is an arc shape coaxial with the rotating shaft of the rotating seat, and the limiting pin can slide into the limiting long hole.

[0010] Further, the angle adjusting device comprises an angle adjusting driving device and a connecting frame, the connecting frame is fixedly installed on the bottom of the supporting frame, the connecting frame is rotatably connected with the rotating device, and the angle adjusting driving device is connected with the connecting frame and drives the connecting frame to move.

[0011] Further, the angle adjusting driving device comprises a rotating shaft and an angle adjusting motor, the rotating shaft is rotatably installed on the rotating device, the connecting frame is fixedly connected with the rotating shaft, and the output shaft of the angle adjusting motor is connected with the rotating shaft.

[0012] Further, the angle adjusting device comprises a half-toothed disc, a driving wheel and an angle adjusting motor, the half-toothed disc is rotatably installed on the rotating device, the half-toothed disc is fixedly connected with the supporting frame, the driving wheel is rotatably installed on the rotating device, the driving wheel is meshed with the half-toothed disc, and the output shaft of the angle adjusting motor is connected with the driving wheel.

[0013] Further, the reinforcing rods are arranged between the two sides of the angle adjusting device and the corresponding sides of the supporting frame.

[0014] Further, one side of the upper portion of the transfer vehicle body is provided with a detection component.

[0015] Further, a guide assembly is arranged on the bottom of the transfer vehicle body.

[0016] Compared with the prior art, the utility model has the beneficial effects that:

[0017] The rotating device of the adaptive shuttle vehicle of the flat single-axis photovoltaic panel cleaning robot can drive the bearing device to rotate in a horizontal plane, so as to adjust the posture of the bearing frame, so as to ensure that the bearing frame can be aligned with a corresponding row of photovoltaic panels, the angle adjusting device can adjust the included angle between the bearing frame and the horizontal plane, so that the bearing frame can be parallel to the corresponding photovoltaic panel, so that the cleaning robot can be smoothly moved from the bearing frame to the photovoltaic panel, and the cleaning of photovoltaic panels with different angles can be adapted, and the adaptation range is wide. BRIEF DESCRIPTION OF DRAWINGS

[0018] Figure 1 It is a perspective view of the adaptive shuttle vehicle of the flat single-axis photovoltaic panel cleaning robot in embodiment 1.

[0019] Figure 2 It is a perspective view of the adaptive shuttle vehicle of the flat single-axis photovoltaic panel cleaning robot in embodiment 1. Figure 1 It is a partial enlarged view of A in the embodiment.

[0020] Figure 3 It is a perspective view of the adaptive shuttle vehicle of the flat single-axis photovoltaic panel cleaning robot in embodiment 1. Figure 1 It is a partial enlarged view of B in the embodiment.

[0021] Figure 4 It is a perspective view of the adaptive shuttle vehicle of the flat single-axis photovoltaic panel cleaning robot in embodiment 1.

[0022] Figure 5 It is a perspective view of the adaptive shuttle vehicle of the flat single-axis photovoltaic panel cleaning robot in embodiment 1. Figure 4 It is a partial enlarged view of C in the embodiment.

[0023] Figure 6 It is a perspective view of the adaptive shuttle vehicle of the flat single-axis photovoltaic panel cleaning robot in embodiment 2.

[0024] Figure 7 It is a perspective view of the adaptive shuttle vehicle of the flat single-axis photovoltaic panel cleaning robot in embodiment 1. Figure 6 It is a partial enlarged view of D in the embodiment.

[0025] In the figure: 1, vehicle body; 2, roller; 3, mounting shaft; 4, detection plate; 5, mounting table; 6, rotating frame; 7, reinforcing rod; 8, bearing frame; 9, angle adjusting reducer; 10, connecting frame; 11, rotating seat; 1101, limiting long hole; 12, walking motor; 13, inner guide wheel; 14, guide wheel mounting plate; 15, outer guide wheel; 16, half tooth disc; 17, driving wheel. DETAILED DESCRIPTION

[0026] The utility model will be further explained in combination with specific embodiments, however, people skilled in the art should understand that the detailed description given in combination with the drawings is for better explanation, the structure of the utility model must exceed these limited embodiments, and for some equivalent replacement schemes or common means, the detailed description will not be described in the text, but still belongs to the protection scope of the application.

[0027] Figures 1-7This is the preferred embodiment of the present invention, which is described below in conjunction with the appendix. Figures 1-7 The present invention will be further described below.

[0028] The adaptive shuttle vehicle for cleaning photovoltaic panels on a single axis includes a shuttle vehicle body, a support frame 8, an angle adjustment device, and a rotating device. The rotating device is mounted on the top of the shuttle vehicle body, and the angle adjustment device is mounted on the rotating device and rotates with it in the horizontal plane. The support frame 8 is mounted on the angle adjustment device and reciprocates with it in the vertical plane. A support part for receiving the cleaning robot is provided on the top of the support frame 8. The rotating device of this adaptive shuttle vehicle for cleaning photovoltaic panels on a single axis can drive the support device to rotate in the horizontal plane, thereby adjusting the posture of the support frame 8 to ensure that the support frame 8 can be aligned with the corresponding row of photovoltaic panels. The angle adjustment device can adjust the angle between the support frame 8 and the horizontal plane, thereby ensuring that the support frame 8 is parallel to the corresponding photovoltaic panel, allowing the cleaning robot to move smoothly from the support frame 8 to the photovoltaic panel. It can also adapt to cleaning photovoltaic panels at different angles, with a wide range of applications.

[0029] Example 1

[0030] like Figures 1-5 As shown, the main body of the shuttle bus includes a vehicle body 1, rollers 2, mounting shafts 3, and a travel motor 12. The vehicle body 1 is a cuboid frame. Mounting shafts 3 are rotatably mounted at both ends of the vehicle body 1. The mounting shafts 3 at both ends are arranged in parallel. Rollers 2 are fixedly mounted at both ends of each mounting shaft 3. The travel motor 12 is connected to any one of the mounting shafts 3 and drives it to rotate, thereby realizing the movement of the vehicle body 1.

[0031] Both the travel motor 12 and the corresponding mounting shaft 3 are coaxially fixedly connected to sprockets. The two sprockets are connected by a chain. The travel motor 12 drives the mounting shaft 3 to rotate through the chain, thereby realizing the movement of the vehicle body 1.

[0032] Guide components are provided on both the front and rear sides of the vehicle body 1 in the direction of travel. The guide components include inner guide wheels 13 and outer guide wheels 15. A guide wheel mounting plate 14 is fixedly installed at the bottom of the vehicle body 1. The guide wheel mounting plate 14 is L-shaped. The guide wheel mounting plates 14 are symmetrically installed on both sides of one end of the vehicle body 1. The vertical part of the guide wheel mounting plate 14 is fixedly connected to the vehicle body 1. The inner guide wheel 13 is rotatably installed on the horizontal part of the guide wheel mounting plate 14. The outer guide wheel 15 is rotatably installed on both sides of one end of the vehicle body 1. The inner guide wheel 13 and the corresponding outer guide wheel 15 are spaced apart to form a space to accommodate the guide rail. The inner guide wheel 13 and the outer guide wheel 15 cooperate to guide the vehicle body 1 and ensure that the vehicle body 1 travels along the guide rail.

[0033] A detection component is arranged on the front side of the vehicle body 1 in the direction of travel, and in this embodiment, the detection component comprises a detection plate 4, one end of which is fixedly connected to the vehicle body 1 and the other end of which is arranged in a suspended manner to cooperate with a photoelectric sensor, thereby ensuring that the support frame 8 can be aligned with the corresponding photovoltaic panel after the vehicle body 1 has stopped moving.

[0034] An installation table 5 is arranged on the top of the vehicle body 1, and the installation table 5 is located in the middle of the vehicle body 1, and a rotating device is installed on the installation table 5.

[0035] The rotating device comprises a rotating drive device and a rotating frame 6, the bottom of the rotating frame 6 is rotatably installed on the installation table 5, and an angle adjusting device is installed on the top of the rotating frame 6. In this embodiment, the rotating drive device is a rotating motor, the rotating motor is installed on the installation table 5, the output shaft of the rotating motor is connected with the rotating frame 6 and drives it to reciprocating rotate around a vertical rotating shaft, i.e. reciprocating rotate in a horizontal plane.

[0036] The rotating device further comprises a rotating seat 11, the rotating seat 11 is fixedly installed on the lower side of the rotating frame 6, the rotating seat 11 is rotatably installed on the upper side of the installation table 5, the output shaft of the rotating motor is fixedly connected with the rotating seat 11 and drives it to rotate, thereby driving the rotating frame 6 to rotate.

[0037] A limiting assembly is arranged between the rotating seat 11 and the installation table 5, the limiting assembly comprises a limiting long hole 1101 arranged on the rotating seat 11 and a limiting pin arranged on the installation table 5, the limiting long hole 1101 is an arc shape coaxial with the rotating shaft of the rotating seat 11, and the limiting pin can slide into the limiting long hole 1101. In this embodiment, the limiting long hole 1101 has two symmetrically arranged on both sides of the rotating seat 11, and the limiting pin corresponds to the limiting long hole 1101 one by one.

[0038] The angle sleeve connecting device comprises an angle adjusting drive device and a connecting frame 10, a rotating shaft is rotatably arranged on the top of the rotating frame 6, the rotating shaft is arranged horizontally, the connecting frame 10 is fixedly connected with the rotating shaft, and the support frame 8 is fixedly connected with the connecting frame 10. In this embodiment, the connecting frame 10 has two symmetrically arranged on both ends of the rotating shaft. The angle adjusting drive device is connected with the rotating shaft and drives it to rotate, thereby driving the support frame 8 to rotate around the rotating shaft, i.e. reciprocating rotate in a vertical plane, thereby realizing the adjustment of the angle of the support frame 8.

[0039] The angle adjusting drive device comprises an angle adjusting motor and an angle adjusting speed reducer 9, the angle adjusting speed reducer 9 and the angle adjusting motor are both installed on the rotating frame 6, the output shaft of the angle adjusting motor is fixedly connected with the input shaft of the angle adjusting speed reducer 9, and the output shaft of the angle adjusting speed reducer 9 is fixedly connected with the rotating shaft.

[0040] Reinforcing rods 7 are arranged between the two sides of each connecting frame 10 and the supporting frame 8, one end of the reinforcing rod 7 is fixedly connected with the supporting frame 8, and the other end is fixedly connected with the connecting frame 10, so that the connection between the connecting frame 10 and the supporting frame 8 is more stable.

[0041] Embodiment 2

[0042] As shown in Figures 6-7 Embodiment 2 differs from Embodiment 1 in that the angle adjusting device further comprises a half-toothed disc 16 and a driving wheel 17, the half-toothed disc 16 is coaxially installed on the rotating shaft and is fixedly connected with the rotating shaft, and the driving wheel 17 is fixedly installed on the output shaft of the angle adjusting speed reducer 9 and is engaged with the half-toothed disc 16.

[0043] The angle adjusting motor drives the driving wheel 17 to rotate through the angle adjusting speed reducer 9, and then drives the supporting frame 8 to rotate through the half-toothed disc 16.

[0044] The above is only a preferred embodiment of the present application, and is not intended to limit the present application in other forms. Any skilled person in the art can modify or change the above disclosed technical content to obtain equivalent embodiments. However, any simple modification, equivalent change and modification of the above embodiments made according to the technical essence of the present application without departing from the technical scheme of the present application shall still fall within the protection scope of the present application.

Claims

1. A self-adapting shuttle vehicle for flat single-axis photovoltaic panel cleaning robots, characterized in that: The shuttle vehicle body, the support frame (8), the angle adjusting device and the rotating device, the rotating device is installed on the top of the shuttle vehicle body, the angle adjusting device is installed on the rotating device and rotates in the horizontal plane, the support frame (8) is installed on the angle adjusting device and reciprocatingly rotates in the vertical plane, and the support part for receiving the cleaning robot is arranged on the top of the support frame (8).

2. The adaptive shuttle vehicle for a flat single-axis photovoltaic panel cleaning robot according to claim 1, characterized in that: The rotating device includes a rotating frame (6) and a rotating driving device, the bottom of the rotating frame (6) is rotatably installed on the shuttle vehicle body, the angle adjusting device is installed on the top of the rotating frame (6), and the rotating driving device is connected with the rotating frame (6) and drives the rotating frame (6) to rotate.

3. The adaptive shuttle vehicle for a flat single-axis photovoltaic panel cleaning robot according to claim 2, characterized in that: The rotating device further includes a rotating seat (11), the rotating seat (11) is fixedly installed on the bottom of the rotating frame (6), the rotating seat (11) is rotatably connected with the shuttle vehicle body, and a limiting assembly is arranged between the rotating seat (11) and the shuttle vehicle body.

4. The adaptive shuttle vehicle for a flat single-axis photovoltaic panel cleaning robot according to claim 3, characterized in that: The limiting assembly includes a limiting long hole (1101) arranged on the rotating seat (11) and a limiting pin arranged on the shuttle vehicle body, the limiting long hole (1101) is an arc shape coaxial with the rotating shaft of the rotating seat (11), and the limiting pin can slide into the limiting long hole (1101).

5. The adaptive shuttle vehicle for a flat single-axis photovoltaic panel cleaning robot according to claim 1, wherein: The angle adjusting device includes an angle adjusting driving device and a connecting frame (10), the connecting frame (10) is fixedly installed on the bottom of the support frame (8), the connecting frame (10) is rotatably connected with the rotating device, and the angle adjusting driving device is connected with the connecting frame (10) and drives the connecting frame (10) to move.

6. The adaptive shuttle vehicle for a flat single-axis photovoltaic panel cleaning robot according to claim 5, characterized in that: The angle adjusting driving device includes a rotating shaft and an angle adjusting motor, the rotating shaft is rotatably installed on the rotating device, the connecting frame (10) is fixedly connected with the rotating shaft, and the output shaft of the angle adjusting motor is connected with the rotating shaft.

7. The adaptive shuttle vehicle for a flat single-axis photovoltaic panel cleaning robot according to claim 5, characterized in that: The angle adjusting device includes a half-toothed disc (16), a driving wheel (17) and an angle adjusting motor, the half-toothed disc (16) is rotatably installed on the rotating device, the half-toothed disc (16) is fixedly connected with the support frame (8), the driving wheel (17) is rotatably installed on the rotating device, the driving wheel (17) is engaged with the half-toothed disc (16), and the output shaft of the angle adjusting motor is connected with the driving wheel (17).

8. The adaptive shuttle vehicle for a flat single-axis photovoltaic panel cleaning robot according to claim 1 or 5, characterized in that: Enhancing rods (7) are arranged between both sides of the angle adjusting device and the corresponding sides of the support frame (8).

9. The adaptive shuttle vehicle for a flat monoaxial photovoltaic panel cleaning robot according to claim 1, characterized in that: One side of the upper portion of the shuttle vehicle body is provided with a detection component.

10. The adaptive shuttle vehicle for a flat monoaxial photovoltaic panel cleaning robot according to claim 1, characterized in that: A guide assembly is arranged on the bottom of the shuttle vehicle body.

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