Side wheel obstacle crossing photovoltaic cleaning robot

Abstract

The utility model discloses a side wheel obstacle crossing photovoltaic cleaning robot, which relates to the technical field of cleaning robots, and comprises a cleaning part and a side wheel part, the side wheel part is provided with a bottom plate and a plurality of lifting driving wheels lifting along the bottom plate, a proximity sensor is arranged beside the lifting driving wheels, the lifting driving wheels are in rolling contact with the side surface of a photovoltaic panel, and the side surface of the photovoltaic panel is in rolling contact with the side surface of the photovoltaic panel. The detection end of the proximity sensor faces the side face of the photovoltaic panel, the lifting driving wheel is rotationally connected to a driving motor assembly and penetrates through the bottom plate, the driving motor assembly is fixed to a lifting base, and the lifting base is slidably connected to a guide rail assembly and connected to the output end of an air cylinder. The technical problem to be solved by the utility model is to provide the side wheel obstacle crossing photovoltaic cleaning robot, and a liftable structure of the side wheel is matched with an obstacle detection sensor, so that obstacles longitudinally protruding out of the upper end and the lower end of a photovoltaic panel can be crossed, and the robot is prevented from being stuck.

Description

TECHNICAL FIELD

[0001] The utility model relates to a cleaning robot technical field, concretely relates to a side wheel obstacle passing photovoltaic cleaning robot. BACKGROUND

[0002] The driving assembly drives the driving wheels arranged below and on the side of the vehicle body to provide driving force for the whole machine. The driving wheels arranged below the machine provide the main driving force under normal circumstances. The side wheels arranged on the side of the machine are used to provide the main driving force for the machine on the photovoltaic panel with a large inclination angle. The side wheels are mainly used for limiting to prevent the machine from sliding on the photovoltaic panel with a large inclination angle. The driving force is only distributed on the driving wheels at the bottom, and the effective driving force on the driving wheels is dispersed on the photovoltaic panel with a large inclination angle. This causes the machine to slip on the photovoltaic panel with a large inclination angle. When the photovoltaic panel is laid, the flatness of the upper and lower ends of the photovoltaic panel cannot be guaranteed due to external factors. In the existing scheme, when the side wheels are encountered in the case of a large height difference between the upper and lower ends, only the driving wheels at the bottom of the machine cannot cross the obstacle, causing the machine to be stuck. In the special working condition that the photovoltaic panel is laid longitudinally at the bottom and is provided with a support for supporting the photovoltaic panel, the support extends out of both ends of the photovoltaic panel. In this case, the side driving wheels cannot cross the support that is higher than the photovoltaic panel in the conventional scheme. The conventional cleaning robot cannot work in this special working condition.

[0003] For example, the patent with the patent publication number CN208583677U discloses a photovoltaic cleaning robot walking system for driving the cleaning main body to walk, which comprises a first walking mechanism, a second walking mechanism and a third walking mechanism, the first walking mechanism and the second walking mechanism are respectively located at both ends of the cleaning main body, and the third walking mechanism is located in the middle of the cleaning main body. The first walking mechanism is provided with a walking wheel set, and the first walking mechanism is also provided with a driving gear wheel set, the driving gear wheel set is provided with two gear wheels and a one-way gear wheel driving set, and the one-way gear wheel driving set is connected with the two gear wheels to drive one of the gear wheels to rotate. CONTENT OF THE UTILITY MODEL

[0004] TECHNICAL PROBLEM TO BE SOLVED BY THE UTILITY MODEL

[0005] The technical problem to be solved by the utility model is to provide a side wheel obstacle passing photovoltaic cleaning robot. The lifting structure of the side wheel and the obstacle detection sensor can cross the obstacles protruding from both ends of the photovoltaic panel in the longitudinal direction, so that the machine is not stuck.

[0006] TECHNICAL SCHEME

[0007] To solve the above problems, the utility model provides the technical scheme as follows:

[0008] A side wheel obstacle crossing photovoltaic panel cleaning robot comprises a cleaning part and a side wheel part, the side wheel part is provided with a bottom plate and a plurality of lifting driving wheels which can lift along the bottom plate, a proximity sensor is provided beside the lifting driving wheel, the lifting driving wheel is in rolling contact with the side of the photovoltaic panel, the detection end of the proximity sensor faces the side of the photovoltaic panel, the lifting driving wheel is rotationally connected to a driving motor assembly and passes through the bottom plate, the driving motor assembly is fixed to a lifting seat, the lifting seat is slidingly connected to a guide rail assembly and connected to the output end of a pneumatic cylinder.

[0009] The side wheel part comprises a bottom plate and a plurality of lifting driving wheels which can lift along the bottom plate. The lifting driving wheels can rotate under the drive of the motor assembly and keep rolling contact with the side of the photovoltaic panel. A proximity sensor is provided beside each lifting driving wheel, with its detection end facing the side of the photovoltaic panel. The sensors are used to detect the distance between the robot and the photovoltaic panel or identify the upcoming obstacle protrusions to ensure that the robot can safely pass through the obstacles. The lifting driving wheels are connected to the bottom plate through the driving motor assembly, and the driving motor assembly is installed on the lifting seat which can slide up and down along the guide rail assembly. Such design allows the driving wheels to adjust the height as needed to pass through the obstacle protrusions. The lifting seat is connected to the output end of a pneumatic cylinder, and the height adjustment of the lifting driving wheels is realized through the action of the pneumatic cylinder. This allows the lifting driving wheels to be raised or lowered as needed to cross the longitudinal protruding obstacles that may occur at the top and bottom ends of the photovoltaic panel, avoiding being stuck.

[0010] Optionally, the guide rail assembly comprises an optical axis guide rail and an optical axis support seat, the optical axis support seat is located at both ends of the optical axis guide rail and is fixedly connected to the bottom plate.

[0011] The optical axis guide rail provides a precise movement path for the lifting seat, ensuring that the side wheel part moves smoothly along the predetermined straight line path during lifting operation. The optical axis guide rail is usually made of hard and wear-resistant materials to withstand wear and tear caused by long-term use. The optical axis support seat is located at both ends of the optical axis guide rail and is fixedly connected to the bottom plate. The optical axis support seat not only provides a mounting point to stably fix the optical axis guide rail on the bottom plate, but also serves as a support for the entire guide rail system, ensuring the stability and rigidity of the guide rail to prevent deformation or displacement caused by external forces.

[0012] Optionally, a box-type linear bearing is provided on the lifting seat and slidingly connected to the optical axis guide rail.

[0013] The box-type linear bearing allows it to slide freely on the optical axis rail while providing sufficient support force and stability, ensuring that the lifting drive wheel can adjust the height stably to adapt to different obstacles or changes in the surface of the photovoltaic panel. Not only does it improve the reliability of the entire system, but it also reduces energy loss and wear caused by friction, prolonging the service life of the equipment.

[0014] As an option, the optical axis rail is provided with two symmetrical groups.

[0015] By setting two symmetrical groups of optical axis rails, the stability of the entire system can be greatly improved. Each group of optical axis rails is equipped with corresponding box-type linear bearings, which are installed on the lifting seat and connected with the optical axis rail in a sliding manner. This configuration ensures that the movement of the lifting seat in the vertical direction is more stable and accurate, reducing the tilting or shaking that may be caused by single-sided support.

[0016] As an option, a rubber wheel sleeve is provided outside the lifting drive wheel, and the outer surface of the rubber wheel sleeve is provided with anti-skid grooves.

[0017] The rubber wheel sleeve outside the lifting drive wheel can effectively increase the friction between the wheel and the surface of the photovoltaic panel, preventing sliding. The rubber material has good elasticity and friction performance, which can provide stable grip without damaging the surface of the photovoltaic panel. The anti-skid grooves on the outer surface of the rubber wheel sleeve further enhance the friction, helping to improve the movement stability of the robot in various environments. Especially when facing wet, dusty or slightly inclined photovoltaic panels, the anti-skid grooves can effectively drain water and dust, and increase additional friction to avoid slipping. In addition to enhancing friction, the rubber wheel sleeve also protects the lifting drive wheel, reducing wear and damage caused by direct contact, especially when the robot needs to cross obstacles.

[0018] As an option, the lifting drive wheel is provided with an even number of symmetrical distribution, and the proximity sensor is arranged beside the outer side of the single-sided lifting drive wheel.

[0019] Symmetrical distribution ensures that the weight of the robot is evenly distributed during movement, improving stability and smoothness of action. Since the cleaning robot moves back and forth, the lifting drive wheel needs to rise to avoid obstacles on both sides, and the proximity sensor can control the lifting drive wheel to rise after detecting the obstacle.

[0020] As an option, the cleaning part is provided with a cleaning roller, which contacts the surface of the photovoltaic panel.

[0021] The main function of the cleaning roller is to remove dust, dirt and other deposits through direct contact with the surface of the photovoltaic panel.

[0022] Optionally, the driving motor assembly, the air cylinder, and the proximity sensor are all connected to a controller.

[0023] The controller, as the core of the entire system, is responsible for receiving data from the proximity sensor and sending instructions to the driving motor assembly and the air cylinder based on these data. This enables the robot to autonomously detect obstacles, plan paths, and execute corresponding actions. By adjusting the operating state (such as speed and direction) of the driving motor assembly, the controller can precisely control the rotation of the lifting drive wheels, enabling smooth movement and position adjustment. When the proximity sensor detects an obstacle, the controller can quickly respond by adjusting the operation of the driving motor assembly, allowing the robot to avoid obstacles or safely cross them. The controller is also responsible for directing the actions of the air cylinder to raise or lower the lifting seat. This capability is crucial for adapting to obstacles of different heights or working on photovoltaic panels with different inclinations. By precisely controlling the extension of the air cylinder, the stability and safety of the robot during task execution are ensured. The proximity sensor continuously monitors the surrounding environment and feeds the collected information back to the controller in real time. These include important parameters such as the distance to obstacles, which help to avoid collisions and optimize the travel route. Based on the data provided by the sensor, the controller can make intelligent decisions, such as when and how to adjust the position of the robot to most effectively complete the cleaning task without being hindered. By integrating the driving motor assembly, air cylinder, and proximity sensor into a system managed by the controller, the entire robot can automatically operate in complex environments without human intervention, greatly improving work efficiency and flexibility.

[0024] Advantages

[0025] Compared with the prior art, the technical scheme provided by the utility model has the following advantages:

[0026] The technical scheme provided by the utility model combines mechanical structures (such as liftable side wheels) and sensing technologies (such as proximity sensors), ensuring the efficiency and safety of the cleaning robot during task execution. Especially in the face of photovoltaic panel edges or uneven surfaces with obstacles, this design can effectively improve the passing ability and cleaning efficiency of the robot. BRIEF DESCRIPTION OF DRAWINGS

[0027] Figure 1 An overall structure schematic diagram of a side-wheel obstacle-crossing photovoltaic cleaning robot is provided for an embodiment of the utility model;

[0028] Figure 2 A lifting drive wheel structure schematic diagram of a side-wheel obstacle-crossing photovoltaic cleaning robot is provided for an embodiment of the utility model;

[0029] Figure 3An embodiment of this utility model provides an extreme position of the lifting drive wheel of a side-wheel obstacle-crossing photovoltaic cleaning robot;

[0030] Figure 4 An embodiment of this utility model proposes a second limit position for the lifting drive wheel of a side-wheel obstacle-crossing photovoltaic cleaning robot;

[0031] Figure 5 An obstacle-crossing position 1 for a side-wheel obstacle-crossing photovoltaic cleaning robot is proposed as an embodiment of this utility model;

[0032] Figure 6 An obstacle-crossing position two for a side-wheel obstacle-crossing photovoltaic cleaning robot, as proposed in an embodiment of this utility model;

[0033] Figure 7 An embodiment of this utility model provides a side-wheel obstacle-crossing photovoltaic cleaning robot with obstacle-crossing position three.

[0034] 1. First proximity sensor; 2. First lifting drive wheel; 3. Second proximity sensor; 4. Second lifting drive wheel; 5. Third lifting drive wheel; 6. Third proximity sensor; 7. Fourth lifting drive wheel; 8. Fourth proximity sensor; 9. Upper bottom drive wheel assembly; 10. Lower bottom drive wheel assembly; 11. Drive motor assembly; 12. Optical axis support seat; 13. Cylinder; 14. Optical axis guide rail; 15. Box-type linear bearing; 16. Rubber wheel sleeve; 17. Base plate; 18. Cleaning roller; 19. Lifting seat; 20. Cleaning section; 21. Side wheel section. Detailed Implementation

[0035] To further understand the content of this utility model, a detailed description of this utility model will be provided in conjunction with the accompanying drawings and embodiments.

[0036] Example

[0037] Combined with appendix Figure 1 A side-wheel obstacle-crossing photovoltaic cleaning robot includes a cleaning unit 20 and a side-wheel unit 21. The side-wheel unit 21 has a base plate 17 and multiple lifting drive wheels that move up and down along the base plate 17. Proximity sensors are located next to the lifting drive wheels. The lifting drive wheels make rolling contact with the side of the photovoltaic panel, and the detection end of the proximity sensor faces the side of the photovoltaic panel. The robot is placed on the photovoltaic panel, with one side of the lifting drive wheels positioned on the side of the photovoltaic panel that is higher up. The robot uses aluminum alloy profiles to connect its upper and lower ends, i.e., the frame of the cleaning unit 20.

[0038] The lifting driving wheels are provided with an even number of symmetrically distributed lifting driving wheels, and the proximity sensors are arranged on the outer side of the lifting driving wheels on one side. In this application, the lifting driving wheels are provided with four lifting driving wheels, which are the first lifting driving wheel 2, the second lifting driving wheel 4, the third lifting driving wheel 5 and the fourth lifting driving wheel 7 from left to right, and are evenly arranged. Each lifting driving wheel is provided with a proximity sensor, which is the first proximity sensor 1, the second proximity sensor 3, the third proximity sensor 6 and the fourth proximity sensor 8, respectively. The first proximity sensor 1 is located on the left side of the first lifting driving wheel 2, the second proximity sensor 3 is located in the middle of the first lifting driving wheel 2 and the second lifting driving wheel 4, the third proximity sensor 6 is located in the middle of the third lifting driving wheel 5 and the fourth lifting driving wheel 7, and the fourth proximity sensor 8 is located on the right side of the fourth lifting driving wheel 7.

[0039] The cleaning part 20 is provided with a cleaning roller 18 which contacts the panel surface of the photovoltaic panel. The end of the cleaning roller 18 is provided with a bottom upper driving wheel set 9 and a bottom lower driving wheel set 10 which contact the photovoltaic panel surface and are used for driving.

[0040] The drawings are combined with the description Figure 2 The lifting driving wheels are rotatably connected to the driving motor assembly 11 and pass through the bottom plate 17. The driving motor assembly 11 is fixed to the lifting seat 19 which is slidably connected to the guide rail assembly and connected to the output end of the air cylinder 13. The driving power source of the driving wheel selects a motor and a speed reducer as the driving element.

[0041] The lifting driving wheels are provided with rubber wheel covers 16, and the outer surface of the rubber wheel cover 16 is provided with anti-skid grooves. The guide rail assembly includes a light shaft guide rail 14 and a light shaft support seat 12 which is located at both ends of the light shaft guide rail 14 and is fixed to the bottom plate 17. The lifting seat 19 is provided with a box-type linear bearing 15 and is slidably connected to the light shaft guide rail 14 through the box-type linear bearing 15. The sliding position is shown in Figure 3 、 4 The driving motor assembly 11, the air cylinder 13 and the proximity sensor are connected to the controller.

[0042] Obstacle action analysis:

[0043] The drawings are combined with the description Figure 5 When the robot is working forward, the fourth proximity sensor 8 detects a protruding obstacle. The robot slows down while lifting the fourth lifting driving wheel 7 and the first lifting driving wheel 2, and continues to work forward relying on the power provided by the remaining lifting driving wheels. In this process, when the third proximity sensor 6 detects a protruding obstacle, the fourth lifting driving wheel 7 is lowered, and the drawings are combined with the description Figure 6, the second proximity sensor 3 detects the protruding obstacle, the third lifting driving wheel 5 and the second lifting driving wheel 4 are lowered, the first lifting driving wheel 2 and the fourth lifting driving wheel 7 are lifted after the two groups of driving wheels are lowered to the initial position, the first proximity sensor 1 detects the protruding obstacle, and then the first lifting driving wheel 2 is lowered. After the above-mentioned operations are completed, the robot continues to work forward. The reverse direction operation can be performed in the reverse direction.

[0044] The above description is illustrative of the present application and its embodiments, and is not restrictive, and the embodiments shown in the drawings are only one of the embodiments of the present application, and the actual structure is not limited thereto. Therefore, if a person skilled in the art is inspired by the above description, without departing from the spirit of the present application, similar structural modes and embodiments can be designed without creativity, which should belong to the protection scope of the present application.

Claims

1. A side-wheel over-obstacle photovoltaic cleaning robot, characterized in that, Including cleaning part and side wheel part, the side wheel part is equipped with bottom plate and multiple lifting drive wheels lifting along the bottom plate, the lifting drive wheels are equipped with proximity sensor beside, the lifting drive wheels are in rolling contact with the side of photovoltaic panel, the detection end of the proximity sensor is towards the side of photovoltaic panel, the lifting drive wheels are rotationally connected to drive motor assembly and pass through the bottom plate, the drive motor assembly is fixed to lifting seat, the lifting seat is slidingly connected to guide rail assembly and is connected to the output end of air cylinder.

2. A photovoltaic cleaning robot over obstacles with side wheels according to claim 1, characterized in that, The guide rail assembly includes optical axis guide rail and optical axis support seat, the optical axis support seat is located at both ends of the optical axis guide rail and is fixed to the bottom plate.

3. A photovoltaic cleaning robot over obstacles with side wheels according to claim 2, characterized in that, The lifting seat is equipped with box type linear bearing and is slidingly connected to the optical axis guide rail through the box type linear bearing.

4. A photovoltaic cleaning robot according to any one of claims 2 or 3, wherein, The optical axis guide rail is equipped with two symmetrical groups.

5. The over- obstacle photovoltaic cleaning robot of claim 1, wherein, The lifting drive wheel is externally equipped with rubber wheel sleeve, the outer surface of the rubber wheel sleeve is equipped with anti-skid groove.

6. The over- obstacle photovoltaic cleaning robot of claim 1, wherein, The lifting drive wheel is equipped with even number and symmetrical distribution, the proximity sensor is arranged on the outside of single side lifting drive wheel.

7. The over- obstacle photovoltaic cleaning robot of claim 1, wherein, The cleaning part is equipped with cleaning roller, the cleaning roller contacts the panel surface of photovoltaic panel.

8. The over- obstacle photovoltaic cleaning robot of claim 1, wherein, The drive motor assembly, the air cylinder and the proximity sensor are connected to the controller.

Images