Single-motor driving mechanism of photovoltaic cleaning robot and photovoltaic cleaning robot

Abstract

The utility model discloses a single-motor driving mechanism of a photovoltaic cleaning robot and the photovoltaic cleaning robot. The single-motor driving mechanism comprises a driving assembly, a driven assembly and a transmission assembly, the driving assembly comprises a motor, the motor is provided with a motor shaft, the driven assembly comprises a driven shaft and walking wheels, and the transmission assembly comprises a transmission shaft connected between the motor shaft and the driven shaft and a sliding sleeve arranged at one end of the driven shaft and one end of the transmission shaft in a sleeving mode. A sliding groove is formed in the sliding sleeve or the driven shaft, and the sliding sleeve and the transmission shaft are connected and fixed through a pin. In the circumferential direction of the transmission shaft, the transmission shaft, the motor shaft and the driven shaft are relatively fixed, so that the motor shaft, the transmission shaft and the driven shaft synchronously rotate in the circumferential direction, in the axial direction of the transmission shaft, the transmission shaft and the motor shaft are relatively fixed, and relative movement of the driven shaft and the sliding sleeve is achieved through sliding of a pin in a sliding groove between the sliding sleeve and the driven shaft. The driven assembly can be adjusted in a floating mode in the axial direction relative to the driving assembly.

Description

Technical Field

[0001] This application relates to the field of photovoltaic cleaning technology, and in particular to a single-motor drive mechanism for a photovoltaic cleaning robot and the photovoltaic cleaning robot itself. Background Technology

[0002] A photovoltaic (PV) power station is a device that converts solar energy into electrical energy. The power generation efficiency and lifespan of a PV power station are greatly affected by contamination, making regular or on-demand cleaning crucial. To facilitate cleaning, the industry has developed cleaning equipment such as PV cleaning robots. One existing PV cleaning robot spans a PV panel array, with motor-driven devices at both ends. A crossbeam connects these motor-driven devices, and cleaning devices are attached to the crossbeam. Driven by the motor-driven devices, the robot moves to clean the PV panel array. This dual-motor driven PV cleaning robot requires high synchronization of motor control and a correction program to adjust the two motors; otherwise, asynchronous operation can lead to the robot swerving or jamming. Existing technologies also employ single-motor drives, directly connecting the walking devices at both ends of the PV cleaning robot via a connecting shaft. The single motor drives the walking devices at both ends to move synchronously on a track. However, in existing single-motor drive solutions, when there is a deviation in the distance between the two tracks, the walking devices may jam, affecting the reliability of the PV cleaning robot's operation.

[0003] Therefore, it is necessary to propose a technical solution to overcome the shortcomings of existing technologies. Summary of the Invention

[0004] This application provides a single-motor drive mechanism for a photovoltaic cleaning robot and the photovoltaic cleaning robot itself, which operates stably and reliably.

[0005] This application is achieved through the following technical solution: a single-motor drive mechanism for a photovoltaic cleaning robot, comprising an active component, a driven component, and a transmission component connected between the active component and the driven component. The active component includes a motor with a motor shaft. The driven component includes a driven shaft and a walking wheel driven by the driven shaft. The transmission component includes a transmission shaft connected between the motor shaft and the driven shaft, and a sliding sleeve sleeved on one end of the driven shaft and the transmission shaft. A axially oriented section is formed on the sliding sleeve or the driven shaft. An extended groove is provided, and the sliding sleeve is fixed to the drive shaft by a pin. In the circumferential direction of the drive shaft, the drive shaft is relatively fixed to both the motor shaft and the driven shaft, allowing the motor shaft, drive shaft, and driven shaft to rotate synchronously in the circumferential direction. In the axial direction of the drive shaft, the drive shaft is relatively fixed to the motor shaft. The sliding sleeve slides within the groove via a pin, enabling relative movement between the driven shaft and the sliding sleeve, allowing the driven assembly to float relative to the driving assembly in the axial direction for adjustment.

[0006] As a further improvement of the present application, the transmission assembly includes a connecting sleeve, which is sleeved on one end of the motor shaft and the transmission shaft to connect one end of the motor shaft and the transmission shaft.

[0007] As a further improvement of the technical solution of this application, the drive shaft includes multiple separate sections, and the connecting sleeve is also sleeved between two adjacent drive shaft sections.

[0008] As a further improvement of this application, the motor shaft, the transmission shaft, and the connecting sleeve are provided with radially extending connecting holes, and the motor shaft and the connecting sleeve, as well as the transmission shaft and the connecting sleeve, are connected and fixed by inserting pins into the connecting holes.

[0009] As a further improvement of the technical solution of this application, the active component is disposed at the upper opening of the photovoltaic cleaning robot, and the driven component is disposed at the lower opening of the photovoltaic cleaning robot. The active component and the driven component respectively include a mounting bracket, a walking wheel and a track roller.

[0010] As a further improvement of the technical solution of this application, there are multiple driven components, and at least one driven component is disposed between the upper and lower openings of the photovoltaic cleaning robot.

[0011] As a further improvement of the technical solution of this application, there are at least two driven components, which are disposed at the upper and lower openings of the photovoltaic cleaning robot, and the active component is disposed between the upper and lower openings of the photovoltaic cleaning robot.

[0012] As a further improvement of the technical solution of this application, the motor has two motor shafts extending to both sides to transmit power to two driven components located at the upper and lower openings through the transmission assembly.

[0013] As a further improvement of the technical solution of this application, the active component includes a support wheel for supporting the photovoltaic panel, and the driven component includes a toothed traveling wheel that travels on a track with toothed holes and track rollers clamped on both sides of the track.

[0014] This application also provides a photovoltaic cleaning robot, which includes a walking beam and a single motor drive mechanism as described above, wherein a shaft support frame is connected to the walking beam, and the shaft support frame is connected to the drive shaft to prevent the drive shaft from bending.

[0015] The single-motor drive mechanism provided in this application has the transmission shaft, motor shaft, and driven shaft all fixed relative to each other in the circumferential direction, so that the motor shaft, transmission shaft, and driven shaft rotate synchronously in the circumferential direction. In the axial direction of the transmission shaft, the transmission shaft and motor shaft are fixed relative to each other, while the driven shaft and transmission shaft can move relative to each other to float and adjust in the axial direction. In this way, while ensuring stable and reliable power transmission, it can adapt to changes in the distance between the active and driven components and avoid jamming. Attached Figure Description

[0016] Figure 1 This is a three-dimensional view of the photovoltaic cleaning robot embodiment 1 applied to a photovoltaic array.

[0017] Figure 2 This is a cross-sectional view of the photovoltaic cleaning robot embodiment of this application applied to a photovoltaic array.

[0018] Figure 3 yes Figure 2 A magnified view of a portion of point A in the middle.

[0019] Figure 4 yes Figure 2 A magnified view of a section at point B.

[0020] Figure 5 yes Figure 2 A magnified view of a section at point C.

[0021] Figure 6 yes Figure 2 A magnified view of a section at point D.

[0022] Figure 7 This is a perspective view of the photovoltaic cleaning robot embodiment 2 of this application applied to a photovoltaic array.

[0023] Figure 8 This is a cross-sectional view of Embodiment 2 of the photovoltaic cleaning robot applied to a photovoltaic array.

[0024] Figure 9 yes Figure 8 A magnified view of a section at point E in the middle.

[0025] Figure 10 yes Figure 8 A magnified view of a section at point F.

[0026] Figure 11 This is a perspective view of the photovoltaic cleaning robot embodiment three of this application applied to a photovoltaic array.

[0027] Figure 12 This is a cross-sectional view of Embodiment 3 of the photovoltaic cleaning robot of this application applied to a photovoltaic array.

[0028] Figure 13 yes Figure 11 A magnified view of a section at point G.

[0029] Figure 14 yes Figure 12 A magnified view of a section at point H.

[0030] The attached figures are labeled as follows: 100, photovoltaic array; 200, photovoltaic cleaning robot; 201, upper opening; 202, lower opening; 10, active component; 11, motor; 111, intermediate motor bracket; 112, motor support wheel; 12, motor shaft; 13, active walking wheel; 14, active track roller; 15, active mounting support; 20, driven component; 21, driven mounting support; 22, driven shaft; 23, driven walking wheel; 24, driven track roller; 30, transmission component; 31, transmission shaft; 32, connecting sleeve; 33, sliding sleeve; 331, chute; 4, walking beam; 41, shaft support frame; 42, shaft support wheel; 5, track; 6, rubber strip. Detailed Implementation

[0031] To provide a clearer understanding of the technical features, objectives, and effects of this application, the specific embodiments of this application will now be described in detail with reference to the accompanying drawings.

[0032] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Unless otherwise specified, the technical features in the following embodiments can be combined with each other. The embodiments described below are merely some embodiments of this application, not all embodiments. All other embodiments obtained by those skilled in the art based on the embodiments of this application without creative effort are within the scope of protection of this application.

[0033] Please see Figures 1 to 11As shown, this application provides a single-motor drive mechanism for a photovoltaic cleaning robot and a photovoltaic cleaning robot 200. The photovoltaic cleaning robot 200 is placed on a photovoltaic array 100 and is used to clean dust and debris on the photovoltaic array 100. The photovoltaic cleaning robot 200 includes the single-motor drive mechanism and a walking beam 4 driven by the single-motor drive mechanism. An adhesive strip 6 is connected to the walking beam 4. During the movement of the walking beam 4, the adhesive strip 6 contacts the photovoltaic array 100 to scrape off dust, debris, etc. on the photovoltaic array 100.

[0034] In this embodiment, the single-motor drive mechanism of the photovoltaic cleaning robot 200 includes an active component 10, a driven component 20, and a transmission component 30 connecting the active component 10 and the driven component 20. The active component 10 includes a motor 11 with a motor shaft 12. The driven component 20 includes a driven shaft 22 and a walking wheel driven by the driven shaft 22. The transmission component 30 includes a transmission shaft 31 connected between the motor shaft 12 and the driven shaft 22. In the circumferential direction, the transmission shaft 31 is relatively fixed to both the motor shaft 12 and the driven shaft 22, allowing them to rotate synchronously in the circumferential direction. In the axial direction, the transmission shaft 31 is relatively fixed to the motor shaft 12, while the driven shaft 22 is movable relative to the transmission shaft 31 for floating adjustment in the axial direction.

[0035] The single-motor drive mechanism provided in this application has the following characteristics: In the circumferential direction of the transmission shaft 31, that is, in the rotational direction of the transmission shaft 31, the transmission shaft 31, the motor shaft 12, and the driven shaft 22 are all relatively fixed, so that the motor shaft 12, the transmission shaft 31, and the driven shaft 22 rotate synchronously in the circumferential direction. In the axial direction of the transmission shaft 31, that is, in the direction parallel to the central axis of the transmission shaft 31, the transmission shaft 31 is relatively fixed to the motor shaft 12, while the driven shaft 22 can move relative to the transmission shaft 31 to float and adjust in the axial direction. In this way, while ensuring stable and reliable power transmission, it can adapt to changes in the distance between the active component 10 and the driven component 20 and avoid jamming.

[0036] Please see Figures 1 to 6The diagram illustrates a first embodiment of the photovoltaic cleaning robot 200. In this embodiment, the active component 10 is located at the upper opening 201 of the photovoltaic cleaning robot 200, and the driven component 20 is located at the lower opening 202 of the photovoltaic cleaning robot 200. That is, the photovoltaic array 100 is inclined, the active component 10 is located on the upper side of the photovoltaic array 100, and the driven component 20 is located on the lower side of the photovoltaic array 100. The active component 10 and the driven component 20 each include a mounting bracket, a walking wheel, and a track roller.

[0037] Please see Figure 3 As shown, specifically, the active component 10 includes an active mounting bracket 15, a motor 11, active traveling wheels 13, and active track rollers 14. The motor 11, active traveling wheels 13, and active track rollers 14 are mounted on the active mounting bracket 15. The motor 11 has a motor shaft 12, and the active traveling wheel 13 is a toothed wheel with cylindrical teeth. The active traveling wheel 13 is connected to the motor shaft 12 via a keyway so that it is driven to rotate by the motor shaft 12. The active traveling wheel 13 travels on a toothed track 5, and the active track rollers 14 are a pair of oppositely arranged rollers, sandwiched between the two sides of the track 5.

[0038] Please see Figure 4 As shown, the driven assembly 20 does not include the motor 11, while other components are generally similar to the driving assembly 10. Specifically, the driven assembly 20 includes a driven mounting bracket 21, a driven shaft 22, a driven traveling wheel 23, and a driven track roller 24. The driven traveling wheel 23 and the driven track roller 24 are mounted on the driven mounting bracket 21. The driven traveling wheel 23 is a toothed wheel with cylindrical teeth, and it is connected to the driven shaft 22 via a keyway so that it is driven to rotate by the driven shaft 22. The driven traveling wheel 23 travels on a track 5 with toothed holes, and the driven track roller 24 is a pair of oppositely arranged rollers, sandwiched on both sides of the track 5. It is understood that both the driving assembly 10 and the driven assembly 20 may also include bearings to ensure the smooth rotation of the motor shaft 12 and the driven shaft 22.

[0039] Please see Figure 5As shown, the transmission assembly 30 includes a transmission shaft 31 and a connecting sleeve 32. The connecting sleeve 32 is sleeved on one end of the motor shaft 12 and the transmission shaft 31 to connect one end of the motor shaft 12 and the transmission shaft 31. In this embodiment, the transmission shaft 31 includes multiple segments, and the connecting sleeve 32 is also sleeved between two adjacent segments of the transmission shaft 31. The motor shaft 12, the transmission shaft 31, and the connecting sleeve 32 are provided with radially extending connecting holes. The motor shaft 12 and the connecting sleeve 32, as well as the transmission shaft 31 and the connecting sleeve 32, are connected and fixed by pins inserted into the connecting holes. The pins match the diameter of the connecting holes so that when the pins are inserted into the connecting holes, the two components to be connected are fixed in both the circumferential and axial directions.

[0040] Please refer to it again. Figure 4 As shown, the transmission assembly 30 includes a sliding sleeve 33, which is sleeved on one end of the driven shaft 22 and the transmission shaft 31. The sliding sleeve 33 has a groove 331 extending axially. The sliding sleeve 33 is connected and fixed to the transmission shaft 31 by a pin. The sliding sleeve 33 and the driven shaft 22 slide relative to each other within the groove 331 via the pin. In other embodiments, the groove 331 may also be formed on the driven shaft 22. The width of the pin matches the width of the groove 331, so that when the pin is inserted into the connecting hole, the driven shaft 22 and the sliding sleeve 33 are fixed relative to each other in the circumferential direction, while in the axial direction, i.e., the length direction of the groove 331, the driven shaft 22 and the sliding sleeve 33 can slide relative to each other.

[0041] Please see Figure 1 and Figure 6 As shown, the two ends of the traveling beam 4 are respectively connected to the active mounting support 15 and the driven mounting support 21. A shaft support frame 41 is connected to the traveling beam 4, and the shaft support frame 41 connects to the drive shaft 31 to prevent the drive shaft 31 from bending. In this embodiment, the shaft support frame 41 includes a horizontal plate and a vertical plate, which are connected to form a "7"-shaped cross-section. The horizontal plate is connected to the traveling beam 4, and the vertical plate has holes for the drive shaft 31 to pass through. Multiple shaft support frames 41 can be provided, and these multiple shaft support frames 41 are evenly and spaced along the axial direction of the drive shaft 31 to suspend the drive shaft 31 and prevent the drive shaft 31 from bending downwards under its own weight when it is long.

[0042] Please see Figures 7 to 10The illustration shown is a second embodiment of the photovoltaic cleaning robot 200. The main difference between this embodiment and the first embodiment is that the first embodiment has two tracks 5, one active component 10, and one driven component 20, while this embodiment has three tracks 5, one active component 10, and two driven components 20. Of course, the number of tracks 5 and the number of driven components 20 can be further increased. In other words, there are multiple driven components 20, with at least one driven component 20 positioned between the upper opening 201 and the lower opening 202 of the photovoltaic cleaning robot 200. By adding one track 5 and one driven component 20, this application enables movement between the upper opening 201 and the lower opening 202, thus further increasing the length of the photovoltaic cleaning robot 200.

[0043] Please see Figure 9 As shown, the added driven component 20 can have the same composition and structure as the driven component 20 set at the lower opening 202 shown in Embodiment 1, and can be set accordingly, which will not be described again here.

[0044] Please see Figure 10 As shown, in this embodiment, another shaft support structure is provided, which includes a shaft support frame 41 and a shaft support wheel 42. The upper end of the shaft support frame 41 is connected to the walking beam 4, and a longitudinal plate extends downward, with holes for the drive shaft 31 to pass through. The shaft support wheel 42 is rotatably connected to the shaft support frame 41 and can roll on the photovoltaic array 100. This shaft support structure not only suspends the drive shaft 31 to prevent it from bending downwards under its own weight when it is long, but also adds a walking path, making the walking of the photovoltaic cleaning robot 200 more stable.

[0045] In some other embodiments, the shaft support frame 41 shown in Embodiment 1 and the shaft support structure shown in Embodiment 2 can be used simultaneously. The shaft support frame 41 shown in Embodiment 1 has a simple structure and low cost, and can be installed in large numbers, for example, one every 2 meters; the shaft support structure shown in Embodiment 2 has a relatively complex structure and relatively high cost, and can be installed in smaller numbers, for example, one every 4 meters.

[0046] Please see Figures 11 to 14 The illustration shown is a third embodiment of the photovoltaic cleaning robot 200. Its main difference from embodiments one and two is that the active component 10 in this embodiment is located in the middle of the photovoltaic cleaning robot 200, specifically between the upper opening 201 and the lower opening 202. In this embodiment, both the upper opening 201 and the lower opening 202 are driven components 20, and the power output by the active component 10 is transmitted to both sides.

[0047] Specifically, there are at least two driven components 20, located at the upper opening 201 and lower opening 202 of the photovoltaic cleaning robot 200, and the active component 10 is located between the upper opening 201 and lower opening 202 of the photovoltaic cleaning robot 200. The active component 10 includes a motor 11, which has two motor shafts 12 extending to both sides. The two motor shafts 12 transmit power to the two driven components 20 located at the upper opening 201 and lower opening 202 through the transmission component 30.

[0048] In this embodiment, the active component 10 includes an intermediate motor bracket 111 and a motor support wheel 112 rotatably connected to the intermediate motor bracket 111. The motor support wheel 112 is used to support the photovoltaic array 100. The motor support wheel 112 is not directly driven by the motor 11. The motor 11 drives the driven components 20 located at both ends to move. The motor support wheel 112 is passively rolled by the traveling beam 4 and mainly plays a supporting role.

[0049] The transmission assembly 30 used for the connection between the active component 10 and the driven component 20 can be configured as described in any of the above embodiments. That is, the transmission assembly 30 includes a transmission shaft 31, a connecting sleeve 32, and a sliding sleeve 33. One end of the motor shaft 12 and the transmission shaft 31 are connected through the connecting sleeve 32 and are relatively fixed in the circumferential and axial directions. The other end of the driven shaft 22 and the transmission shaft 31 are connected through the sliding sleeve 33 and are relatively fixed in the circumferential direction, but are allowed to slide relative to each other in the axial direction.

[0050] The active component 10 provided in this embodiment can be conveniently positioned at any location along the axial direction of the transmission component 30, requiring only that its two ends be connected to the driven component 20 via the transmission component 30. The photovoltaic array 100 does not need to be specially configured for the active component 10; it can be arranged normally without the need for clearance. The active component 10 is preferably positioned between two adjacent photovoltaic panels, allowing the motor support wheel 112 to travel by riding on the edges of the two adjacent photovoltaic panels. In this embodiment, the driven component 20 includes a toothed traveling wheel that travels on a toothed track 5 and track rollers clamped on both sides of the track 5. The structure of the driven component 20 can refer to the driven component 20 in any of the above embodiments, and will not be repeated here.

[0051] The main differences between Embodiments 2 and 3 and Embodiment 1 have been described above. Other parts not mentioned here may be the same as those in Embodiment 1 or may be adapted and set according to Embodiment 1. Please refer to Embodiment 1 for understanding. They will not be repeated here.

[0052] As can be seen from the above description of the specific embodiments, the single-motor drive mechanism of the photovoltaic cleaning robot 200 and the photovoltaic cleaning robot 200 provided in this application have the following features: in the circumferential direction of the transmission shaft 31, the transmission shaft 31 is relatively fixed to the motor shaft 12 and the driven shaft 22, so that the motor shaft 12, the transmission shaft 31 and the driven shaft 22 rotate synchronously in the circumferential direction; in the axial direction of the transmission shaft 31, the transmission shaft 31 is relatively fixed to the motor shaft 12, while the driven shaft 22 can move relative to the transmission shaft 31 to float and adjust in the axial direction. In this way, while ensuring stable and reliable power transmission, it can adapt to changes in the distance between the active component 10 and the driven component 20, and avoid jamming.

[0053] This application is illustrated through several specific embodiments. Those skilled in the art will understand that various modifications and equivalent substitutions can be made to this application without departing from its scope. Furthermore, various modifications can be made to this application for specific situations or circumstances without departing from the scope of this utility model. Therefore, this application is not limited to the specific embodiments disclosed, but should include all embodiments falling within the scope of the claims of this application.

Claims

1. A single-motor drive mechanism for a photovoltaic cleaning robot, characterized in that, The system includes an active component, a driven component, and a transmission component connecting the active component and the driven component. The active component includes a motor with a motor shaft. The driven component includes a driven shaft and a wheel driven by the driven shaft. The transmission component includes a transmission shaft connected between the motor shaft and the driven shaft, and a sliding sleeve fitted onto one end of the driven shaft and the transmission shaft. A groove is formed on the sliding sleeve or the driven shaft. The sliding sleeve is fixed to the transmission shaft by a pin. In the circumferential direction of the transmission shaft, the transmission shaft is relatively fixed to both the motor shaft and the driven shaft, so that the motor shaft, transmission shaft, and driven shaft rotate synchronously in the circumferential direction. In the axial direction of the transmission shaft, the transmission shaft is relatively fixed to the motor shaft. The sliding sleeve slides within the groove via a pin, allowing relative movement between the driven shaft and the sliding sleeve, so that the driven component can float and adjust relative to the active component in the axial direction.

2. The single-motor drive mechanism as described in claim 1, characterized in that, The transmission assembly includes a connecting sleeve, which is sleeved on one end of the motor shaft and the transmission shaft to connect one end of the motor shaft and the transmission shaft.

3. The single-motor drive mechanism as described in claim 2, characterized in that, The drive shaft comprises multiple separate sections, and the connecting sleeve is also fitted between two adjacent drive shaft sections.

4. The single-motor drive mechanism as described in claim 3, characterized in that, The motor shaft, the drive shaft, and the connecting sleeve are provided with radially extending connecting holes. The motor shaft and the connecting sleeve, as well as the drive shaft and the connecting sleeve, are connected and fixed by inserting pins into the connecting holes.

5. The single-motor drive mechanism as described in any one of claims 1 to 4, characterized in that, The active component is located at the upper opening of the photovoltaic cleaning robot, and the driven component is located at the lower opening of the photovoltaic cleaning robot. The active component and the driven component respectively include a mounting bracket, a walking wheel, and a track roller.

6. The single-motor drive mechanism as described in claim 5, characterized in that, There are multiple driven components, with at least one driven component disposed between the upper and lower openings of the photovoltaic cleaning robot.

7. The single-motor drive mechanism as described in any one of claims 1 to 4, characterized in that, The driven components are at least two and are disposed at the upper and lower openings of the photovoltaic cleaning robot, while the active component is disposed between the upper and lower openings of the photovoltaic cleaning robot.

8. The single-motor drive mechanism as described in claim 7, characterized in that, The motor has two motor shafts extending to both sides to transmit power to two driven components located at the upper and lower openings via the transmission assembly.

9. The single-motor drive mechanism as described in claim 7, characterized in that, The active component includes a motor support wheel for supporting the photovoltaic panel, and the driven component includes a toothed traveling wheel that travels on a track with toothed holes and track rollers clamped on both sides of the track.

10. A photovoltaic cleaning robot, characterized in that, It includes a traveling beam and a single motor drive mechanism as described in any one of claims 1 to 9, wherein a shaft support frame is connected to the traveling beam, and the shaft support frame is connected to the drive shaft to prevent the drive shaft from bending.

Images