Walking supporting mechanism and photovoltaic module cleaning robot

Abstract

The utility model relates to the technical field of cleaning robots, in particular to a walking supporting mechanism and a photovoltaic module cleaning robot, which are free of track design and anti-skid driving. Comprising a walking wheel assembly, a supporting wheel assembly, a connecting frame and a driving assembly. The walking wheel assembly comprises at least four walking wheels, the walking wheels are symmetrically arranged on the two sides of the connecting frame, and multiple sets of suction cups are arranged on the outer ring faces of the walking wheels. The supporting wheel assembly comprises at least four supporting wheels, the supporting wheels are symmetrically arranged on the two sides of the connecting frame, and the axial leads of the supporting wheels are perpendicular to the axial leads of the walking wheels; the driving assembly comprises a driving motor and a reducer, an output shaft of the driving motor is connected with an input shaft of the reducer, and an output shaft of the reducer is connected with a wheel shaft of the walking wheel.

Description

Technical Field

[0001] This utility model relates to the technical field of cleaning robots, and in particular to a walking support mechanism and a photovoltaic module cleaning robot. Background Technology

[0002] Photovoltaic modules, as the core component of solar power generation systems, are composed of multiple solar cells connected in series and parallel and then encapsulated. They efficiently convert solar energy into electrical energy to power various electrical devices or store electrical energy in batteries. The power generation efficiency and lifespan of photovoltaic modules are easily affected by dirt, so the surface of the modules needs to be cleaned regularly or as needed. Currently, in addition to manual cleaning, the main cleaning technologies include nano self-cleaning films, electrostatic precipitators, and mechanical dust removal. Among them, mechanical dust removal is widely used in photovoltaic power plants due to its simplicity and feasibility, while cleaning robots have given rise to intelligent solutions in the field of mechanical dust removal.

[0003] On photovoltaic arrays, cleaning robots primarily move in two ways: trackless and tracked. While trackless systems are simpler in structure, the relatively smooth surface of the photovoltaic array's edges exacerbates slippage during snowfall or icing, making the robot highly susceptible to slippage. Tracked systems can mitigate this issue by adding friction-enhancing structures to the tracks, but slippage cannot be completely prevented. Furthermore, this additional track installation not only complicates the structure and operation but also significantly increases costs. Utility Model Content

[0004] To solve the above-mentioned technical problems, this utility model provides a trackless walking support mechanism and a photovoltaic module cleaning robot with anti-slip drive.

[0005] This utility model discloses a walking support mechanism, comprising a walking wheel assembly, a support wheel assembly, a connecting frame, and a drive assembly. The walking wheel assembly includes at least four walking wheels symmetrically arranged on both sides of the connecting frame, and the outer circumference of each walking wheel is provided with multiple sets of suction cups. The support wheel assembly includes at least four support wheels symmetrically arranged on both sides of the connecting frame, with the axis of the support wheels perpendicular to the axis of the walking wheels. The drive assembly includes a drive motor and a reducer, with the output shaft of the drive motor connected to the input shaft of the reducer, and the output shaft of the reducer connected to the axle of the walking wheels.

[0006] Furthermore, the connecting frame includes a main frame, a sub-frame, and a locking element. The sub-frame is slidably connected to the main frame, and the locking element is used to restrict the movement of the sub-frame. The sub-frame is connected to a mounting plate via a telescopic structure, and both the walking wheel assembly and the support wheel assembly are mounted on the mounting plate.

[0007] Furthermore, the support wheel assembly also includes a buffer component, which is disposed between the support wheel and the mounting plate. The buffer component includes a spring and a damper. The spring is sleeved on the outside of the damper. One end of the spring is connected to the mounting seat of the support wheel, and the other end is connected to the connecting frame.

[0008] Furthermore, the travel wheel assembly also includes a scraper, which is disposed on the outer side of the travel wheel.

[0009] Furthermore, the drive assembly also includes an encoder, which is mounted on the output shaft of the reducer.

[0010] Furthermore, the suction cup is made of elastic silicone material, and the suction cup is detachably connected to the wheel.

[0011] Furthermore, the support wheels are made of rubber with anti-slip textures on the surface.

[0012] A photovoltaic module cleaning robot, comprising any one of the above-mentioned walking support mechanisms.

[0013] Compared with the prior art, the beneficial effects of this utility model are as follows:

[0014] Multiple sets of elastic silicone suction cups on the outer ring of the walking wheels enhance the adhesion to the photovoltaic module surface, effectively preventing the cleaning robot from slipping in harsh conditions such as rain, snow, and ice. The support wheels are made of rubber with anti-slip textures, forming a vertical support with the walking wheels to further improve grip stability. Attached Figure Description

[0015] The present invention will be further described below with reference to the accompanying drawings.

[0016] Figure 1 This is a schematic diagram of the structure of this utility model;

[0017] Figure 2 This is a partially enlarged structural schematic diagram of the present invention;

[0018] The following labels are used in the attached diagram: 1. Walking wheel assembly; 11. Walking wheel; 12. Suction cup; 13. Scraper; 2. Support wheel assembly; 21. Support wheel; 22. Buffer; 221. Spring; 222. Damper; 3. Connecting frame; 31. Main frame; 32. Sub-frame; 33. Locking element; 34. Mounting plate; 4. Drive assembly; 41. Drive motor; 42. Reducer; 43. Encoder. Detailed Implementation

[0019] The specific embodiments of this utility model will be further described in detail below with reference to the accompanying drawings and examples. The following examples are used to illustrate this utility model, but are not intended to limit the scope of this utility model.

[0020] like Figures 1 to 2 As shown, the present invention provides a walking support mechanism, including a walking wheel assembly 1, a support wheel assembly 2, a connecting frame 3, and a drive assembly 4. The walking wheel assembly 1 and the support wheel assembly 2 are in contact with the photovoltaic array frame. The connecting frame 3 is used to connect and fix the walking wheel assembly 1, the support wheel assembly 2, and the drive assembly 4, providing a stable installation foundation for each component and ensuring the accurate relative position between each component. The drive assembly 4 is used to drive the support wheel assembly 2 to move on the photovoltaic array.

[0021] In the embodiments of this application, the walking wheel assembly 1 includes at least four walking wheels 11, which are symmetrically arranged on both sides of the connecting frame 3 to ensure uniform force distribution during walking and improve walking stability. The outer ring surface of the walking wheel 11 is provided with multiple sets of suction cups 12, which are equipped with vacuum holding devices and whose working principle is based on atmospheric pressure. When the walking wheel 11 contacts the photovoltaic array surface, the air in the suction cup 12 is discharged, forming a negative pressure, thereby tightly adhering to the photovoltaic array surface and enhancing the friction between the walking wheel 11 and the photovoltaic array surface. Even in extreme weather such as snow or ice, when the photovoltaic array surface becomes extremely smooth, the risk of slipping can be significantly reduced, and the walking ability in complex environments can be improved.

[0022] The support wheel assembly 2 includes at least four support wheels 21, which are symmetrically arranged on both sides of the connecting frame 3. The axis of the support wheel 21 is perpendicular to the axis of the walking wheel 11. During the operation of the cleaning robot, the support wheels 21 and the walking wheel 11 work together. The support wheels 21 can provide lateral support force for the cleaning robot, helping the robot to maintain balance on the photovoltaic array and avoid tipping over due to center of gravity shift or external interference. At the same time, the support wheels 21 can also assist the walking wheel 11 in sharing the weight of the cleaning robot, reducing the load on the walking wheel 11, extending the service life of the walking wheel 11, and ensuring the stable operation of the entire walking support mechanism.

[0023] The drive assembly 4, serving as the power source for the walking support mechanism, consists of a drive motor 41 and a reducer 42. The power output from the drive motor 41 is transmitted to the input shaft of the reducer 42 through its output shaft. The reducer 42 reduces and increases the torque of the power, transmitting the appropriate torque and speed to the axle of the walking wheel 11 through its output shaft, thereby driving the walking wheel 11 to rotate and enabling the cleaning robot to move on the photovoltaic array. The drive motor 41 has efficient power output performance and can provide stable power according to the working needs of the cleaning robot. The reducer 42, through a precise gear transmission design, effectively adjusts the power, enabling the walking wheel 11 to obtain appropriate speed and torque, ensuring that the cleaning robot can move on the photovoltaic array at a stable and efficient speed to complete the cleaning task.

[0024] In some embodiments of this application, the connecting frame 3 includes a main frame 31, a sub-frame 32, and a locking member 33. The main frame 31 and the sub-frame 32 are made of high-strength lightweight alloy materials, such as aerospace-grade aluminum alloy, to ensure that the frame has sufficient strength to withstand the weight of the walking wheel assembly 1, the support wheel assembly 2, and the drive assembly 4, as well as various stresses generated during operation, while reducing its own weight and lowering the overall load and energy consumption of the cleaning robot. The sub-frame 32 is slidably connected to the main frame 31, and the locking member 33 is used to restrict the movement of the sub-frame 32. The sub-frame 32 is connected to a mounting plate 34 through a telescopic structure to adjust the distance between the connecting frame 3 and the photovoltaic panel. The walking wheel assembly 1 and the support wheel assembly 2 are both mounted on the mounting plate 34. Through the sliding connection, the sub-frame 32 can be moved manually or electrically along the length direction of the main frame 31 to adjust the distance between the walking wheel assembly 1, the support wheel assembly 2, and the photovoltaic panel, adapting to photovoltaic panels of different specifications.

[0025] In some embodiments of this application, the support wheel assembly 2 further includes a buffer 22, which is disposed between the support wheel 21 and the mounting plate 34. The buffer 22 includes a spring 221 and a damper 222. The spring 221 is sleeved on the outside of the damper 222. One end of the spring 221 is connected to the mounting seat of the support wheel 21, and the other end is connected to the connecting frame 3. The spring is a compression spring, which provides initial buffer support for the support wheel 21 to ensure that the support wheel 21 remains in contact with the photovoltaic panel. The damper 222 can suppress the excessive extension and rebound of the spring 221, and prevent the support wheel 21 from jumping and oscillating significantly. It generates damping force through the flow of internal hydraulic oil, converting excess energy into heat energy and dissipating it, so that the support wheel 21 can be stabilized quickly.

[0026] In some embodiments of this application, the walking wheel assembly 1 further includes a scraper 13, which is disposed on the outer side of the walking wheel 11 and moves forward synchronously with the walking wheel 11. The scraper 13 is made of a high-strength, wear-resistant and flexible rubber material. Its flexibility allows the scraper 13 to better conform to the surface of the photovoltaic panel and remove particles attached to the surface of the photovoltaic module, ensuring that the walking wheel 11 rolls smoothly and steadily, and reducing problems such as jamming and slippage of the walking wheel 11 caused by particles.

[0027] In some embodiments of this application, the drive component 4 also includes an encoder 43, which is mounted on the output shaft of the reducer 42 and is used to monitor the rotation angle and speed of the walking wheel 11 in real time. During the operation of the cleaning robot, the encoder 43 continuously feeds back the measured rotation angle and speed data to the robot's control system. By accumulating the rotation angle of the output shaft, the position of the cleaning robot in the photovoltaic array is determined, and any abnormalities that may occur, such as sudden changes in the speed of the output shaft or excessive angle deviation, are detected in a timely manner, which helps to improve the stability and reliability of operation.

[0028] In some embodiments of this application, the suction cup 12 is made of elastic silicone. Elastic silicone has good flexibility and elasticity, which can closely conform to the slight undulations of the photovoltaic module surface. After the internal air is discharged to form a negative pressure, it can achieve strong adsorption with the photovoltaic module surface, effectively preventing the walking wheel 11 from slipping. At the same time, considering that the suction cup 12 is prone to wear and aging under long-term outdoor use, which affects the adsorption performance, the suction cup 12 and the walking wheel 11 are detachably connected. This not only makes it convenient for operators to quickly replace the suction cup 12 when its performance deteriorates or it is damaged, but also allows for the selection of suction cups 12 of different specifications and adsorption forces to be adapted according to the surface characteristics of different types of photovoltaic modules, thereby improving the applicability and flexibility in different working environments.

[0029] In some embodiments of this application, the support wheel 21 is made of rubber, which has high elasticity, strong wear resistance and weather resistance. It can maintain good physical properties in complex outdoor environments such as high temperature exposure, low temperature, and humid and rainy conditions, avoiding problems such as hardening, cracking or excessive softening, thus laying the foundation for the stable operation of the walking support mechanism. The surface of the support wheel 21 is provided with anti-slip textures, which are distributed in an interlaced pattern, arranged in a herringbone or diamond shape. When the cleaning robot moves on the photovoltaic panel, these anti-slip textures can effectively increase the friction with the surface of the photovoltaic panel and prevent the support wheel 21 from slipping. At the same time, the anti-slip textures also have a certain drainage and chip removal function. When in contact with a wet or fine particle-containing photovoltaic panel surface, the textures can promptly drain water and impurities, further enhancing grip and ensuring stable support of the support wheel 21.

[0030] A photovoltaic module cleaning robot includes a walking support mechanism as described above; the components of the walking support mechanism work together to enable the cleaning robot to move efficiently and safely on the photovoltaic panel, while the onboard cleaning mechanism can perform deep cleaning on the surface of the photovoltaic module, effectively improving the power generation efficiency of the photovoltaic panel, reducing the cost and safety risks of manual cleaning, and providing an intelligent and reliable solution for the efficient operation and maintenance of photovoltaic power plants.

[0031] The walking support mechanism and photovoltaic module cleaning robot of this utility model are all common mechanical methods in terms of installation, connection or setting. Any method that can achieve its beneficial effect can be implemented.

[0032] The above description is only a preferred embodiment of the present utility model. It should be noted that for those skilled in the art, several improvements and modifications can be made without departing from the technical principles of the present utility model, and these improvements and modifications should also be considered within the protection scope of the present utility model.

Claims

1. A walking support mechanism characterized by comprising: The walking support mechanism comprises a walking wheel assembly (1), a supporting wheel assembly (2), a connecting frame (3) and a driving assembly (4); the walking wheel assembly (1) comprises at least four walking wheels (11) symmetrically arranged on both sides of the connecting frame (3), and the outer ring surface of the walking wheel (11) is provided with a plurality of groups of suction cups (12); the supporting wheel assembly (2) comprises at least four supporting wheels (21) symmetrically arranged on both sides of the connecting frame (3), and the axis of the supporting wheel (21) is perpendicular to the axis of the walking wheel (11); the driving assembly (4) comprises a driving motor (41) and a speed reducer (42), the output shaft of the driving motor (41) is connected with the input shaft of the speed reducer (42), and the output shaft of the speed reducer (42) is connected with the axle of the walking wheel (11).

2. The walking support mechanism according to claim 1, wherein The connecting frame (3) comprises a main frame (31), a sub-frame (32) and a locking piece (33), the sub-frame (32) is in sliding connection with the main frame (31), and the locking piece (33) is used for limiting the movement of the sub-frame (32); the sub-frame (32) is connected with a mounting plate (34) through a telescopic structure, and the walking wheel assembly (1) and the supporting wheel assembly (2) are arranged on the mounting plate (34).

3. The walking support mechanism according to claim 2, wherein The supporting wheel assembly (2) further comprises a buffer (22), the buffer (22) is arranged between the supporting wheel (21) and the mounting plate (34), the buffer (22) comprises a spring (221) and a damper (222), the spring (221) is sleeved on the outer side of the damper (222), one end of the spring (221) is connected with the mounting seat of the supporting wheel (21), and the other end is connected with the connecting frame (3).

4. The walking support mechanism according to claim 1, wherein The walking wheel assembly (1) further comprises a scraper (13), and the scraper (13) is arranged on the outer side of the walking wheel (11).

5. The walking support mechanism according to claim 1, wherein The driving assembly (4) further comprises an encoder (43), and the encoder (43) is arranged on the output shaft of the speed reducer (42).

6. The walking support mechanism according to claim 1, wherein The suction cup (12) is made of elastic silica gel material, and the suction cup (12) is detachably connected with the walking wheel (11).

7. The walking support mechanism according to claim 1, wherein The supporting wheel (21) is made of rubber material and is provided with anti-skid lines on the surface.

8. A photovoltaic module cleaning robot, characterized in that, The walking support mechanism comprises the walking support mechanism according to any one of claims 1-7. The walking support mechanism comprises the walking support mechanism according to any one of claims 1-7.

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