Traveling mechanism of dry-hanging type cleaning robot

Abstract

The utility model discloses a walking mechanism of a dry hanging type cleaning robot, which comprises a rolling brush arranged below a main beam, and a flexible photovoltaic panel and an electric box arranged at the top of the main beam; the walking assembly is arranged at the end of the rolling brush and comprises a shell located on the side of the rolling brush. The first walking wheel is rotationally arranged on the side portion of the shell, and a second walking wheel is arranged at the bottom of the first walking wheel. The driving mechanism is used for driving the first walking wheel to rotate; the transmission assembly is arranged on the side portion of one shell. Through mutual cooperation of the shell, the first walking wheels, the second walking wheels, the driving mechanism and the transmission assembly, the driving mechanism drives the four first walking wheels, the rotating frame rotates along with the first walking wheels, one end of the rotating frame can swing left and right according to fluctuation of a photovoltaic panel, the first walking wheels and the second walking wheels are made to be attached to the photovoltaic panel all the time, and the photovoltaic panel is protected. And when passing through the floating gap bridge mechanism, the upper and lower driving wheels are simultaneously contacted with the gap bridge to adapt to various complex environments.

Description

Technical Field

[0001] This utility model relates to the field of dry-hung cleaning robots, and in particular to a walking mechanism for a dry-hung cleaning robot. Background Technology

[0002] A photovoltaic (PV) panel is a power generation device that generates direct current (DC) electricity when exposed to sunlight. PV panels are mainly composed of thin solid photovoltaic cells made of semiconductor materials. PV panels convert light energy into electrical energy through the photoelectric effect. After a certain period of use, PV panels become dirty, requiring cleaning. Therefore, dry-hanging cleaning robots are used.

[0003] Existing dry-hung cleaning robots typically include a main beam, a roller brush, a photovoltaic tracking bracket, photovoltaic modules, and control components. The roller brush rotates at the bottom of the main beam, and a walking mechanism is usually installed on the photovoltaic bracket, so that the photovoltaic tracking bracket can automatically adjust the angle of the photovoltaic panels according to the different angles of sunlight each day.

[0004] However, there will be some error when returning to the original position every evening. After a period of use, the photovoltaic panel will also fluctuate up and down. As a result, when the photovoltaic tracking bracket walking mechanism passes the floating bridge mechanism, one end usually cannot swing left and right, and thus cannot always keep in contact with the photovoltaic panel. Therefore, it is necessary for the photovoltaic tracking bracket walking mechanism on the dry-hanging cleaning robot to swing left and right at one end according to the changes of the photovoltaic panel when passing the floating bridge mechanism, so that the walking wheels can keep in contact with the photovoltaic panel. Utility Model Content

[0005] The purpose of this invention is to provide a walking mechanism for a dry-hanging cleaning robot to solve the problems mentioned in the background art.

[0006] To achieve the above objectives, this utility model provides the following technical solution: a walking mechanism for a dry-hanging sweeping robot, comprising:

[0007] The main beam has a roller brush installed at the bottom, and a flexible photovoltaic panel and an electrical box are installed on the top of the main beam.

[0008] A traveling assembly, disposed at the end of the roller brush, the traveling assembly comprising:

[0009] The housing is located on the side of the roller brush;

[0010] The first traveling wheel is rotatably mounted on the side of the housing, and the bottom of the first traveling wheel is provided with a second traveling wheel;

[0011] A drive mechanism is mounted on the housing, and the drive mechanism is used to drive the first traveling wheel to rotate;

[0012] A transmission assembly is disposed on the side of one of the housings, the transmission assembly being used to drive two of the second driving wheels to rotate.

[0013] Preferred options also include:

[0014] An assembly frame, which is fixedly connected to the bottom of the flexible photovoltaic panel;

[0015] A proximity sensor, which is mounted on an assembly rack;

[0016] A disc, which is mounted on the bottom of two of the second traveling wheels.

[0017] Preferably, the walking component further includes:

[0018] A rotating frame, which is mounted on the side of one of the housings, and the end of the main beam is mounted inside the rotating frame;

[0019] A drive rod is rotatably connected to the side of the housing, the drive rod is located inside the rotating frame, and the drive rod passes through the end of the roller brush;

[0020] A cover plate, which is installed on the other side of the housing;

[0021] A bracket, which is fixedly connected to the side of another housing, and the other end of the main beam is installed inside the bracket;

[0022] A connecting shaft is provided, the end of which is fixedly connected to the first traveling wheel, and the connecting shaft is rotatably connected to the housing.

[0023] Preferably, the drive mechanism includes:

[0024] A driving component is fixedly connected to the side of the housing, and the output end of the driving component is connected to a first gear.

[0025] The second gear is fixedly connected to the end of the drive rod;

[0026] The third gear is fixedly connected to the end of the connecting shaft;

[0027] A chain, which is meshed with a first gear, a second gear, and a third gear;

[0028] A sensor is located inside another housing, the bottom of which is rotatably connected to an assembly shaft, one end of which is fixedly connected to the sensor, and the other end of which is fixedly connected to an assembly frame, wherein two other second traveling wheels are rotatably connected to the assembly frame.

[0029] Preferably, the drive mechanism further includes:

[0030] A fixing frame, which is fixedly connected to the inner wall of the housing;

[0031] A tensioning bracket is mounted on a fixed frame. A fourth gear is rotatably connected inside the tensioning bracket, and the fourth gear is meshed with a chain.

[0032] Preferably, the transmission assembly includes:

[0033] A fixed box, which is fixedly connected to the side of one of the housings;

[0034] A bearing housing, which is sleeved on the outside of the connecting shaft and installed on the side of the fixed box;

[0035] A drive shaft is rotatably inserted into the bottom of a fixed box, and the end of the drive shaft is fixedly connected to two of the second traveling wheels.

[0036] A first reversing gear is fixedly sleeved on the outside of the connecting shaft. The first reversing gear is meshed with a second reversing gear, which is fixedly sleeved on the outside of the transmission shaft.

[0037] The technical effects and advantages of this utility model are as follows:

[0038] This invention utilizes the cooperation of the housing, first traveling wheels, second traveling wheels, drive mechanism, and transmission components. The drive mechanism drives the four first traveling wheels, while the two first traveling wheels rotate the two second traveling wheels via the transmission components. The rotating frame follows the rotation, allowing one end to swing left and right according to the undulations of the photovoltaic panel, ensuring that the first and second traveling wheels remain in contact with the photovoltaic panel. When crossing the floating bridge mechanism, the upper and lower drive wheels also contact the bridge simultaneously, adapting to various complex environments. Attached Figure Description

[0039] Figure 1 This is a schematic diagram of the overall structure of this utility model.

[0040] Figure 2 This is a schematic diagram of the proximity sensor structure of this utility model.

[0041] Figure 3 This is a schematic diagram of the rotating frame structure of this utility model.

[0042] Figure 4 This is a schematic diagram of the chain structure of this utility model.

[0043] Figure 5 This is a schematic diagram of the structure of the sensing element of this utility model.

[0044] Figure 6 This is a schematic diagram of the structure at the connecting shaft of this utility model.

[0045] Figure 7 This is a schematic diagram of the support structure of this utility model.

[0046] In the diagram: 1. Main beam; 2. Roller brush; 3. Flexible photovoltaic panel; 4. Electrical box; 5. Walking assembly; 51. Housing; 52. First walking wheel; 53. Second walking wheel; 54. Drive component; 55. Rotating frame; 56. Drive rod; 57. First gear; 58. Second gear; 59. Third gear; 510. Chain; 511. Fixing frame; 512. Tensioning bracket; 513. Fourth gear; 514. Sensor; 515. Cover plate; 516. Bracket; 517. Connecting shaft; 6. Assembly frame; 7. Proximity sensor; 8. Disc; 9. Transmission assembly; 91. Fixing box; 92. Bearing seat; 93. Second reversing gear; 94. Drive shaft; 95. First reversing gear. Detailed Implementation

[0047] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of the present utility model.

[0048] This utility model provides, for example Figure 1-7 The walking mechanism of the dry-hanging cleaning robot shown includes a roller brush 2 installed below the main beam 1, which is conducive to brushing and cleaning the surface of the photovoltaic panel. A flexible photovoltaic panel 3 and an electrical box 4 are installed on the top of the main beam 1. The electrical box 4 is equipped with a voltage regulator, DTU module, driver and lithium battery, etc. The flexible photovoltaic panel 3 is conducive to converting solar energy into electrical energy to charge the lithium battery. The walking component 5 is set at the end of the roller brush 2.

[0049] Furthermore, the walking assembly 5 includes a housing 51 located on the side of the roller brush 2, which facilitates support for the drive mechanism; a first walking wheel 52 is rotatably disposed on the side of the housing 51. The first walking wheel 52 and the second walking wheel 53 facilitate walking in contact with the photovoltaic panel assembly. Simultaneously, two of the second walking wheels 53 are rotatable, allowing for left-right swaying during walking, thus adapting to various environments and accommodating the undulating changes of the photovoltaic panel assembly. The second walking wheel 53 is located at the bottom of the first walking wheel 52. It should be noted that when using the photovoltaic panel assembly, the two rotatable wheels... The second traveling wheel 53 is located above the photovoltaic panel assembly to accommodate unevenness in the upper photovoltaic panel assembly or bridge. The drive component 54 above it rotates automatically, ensuring that the first traveling wheel 52 and the second traveling wheel 53 are always in contact with the track or photovoltaic panel. If the lower photovoltaic panel assembly or bridge is not parallel to the upper one, the two second traveling wheels 53 are also in contact with the track or photovoltaic panel. The drive mechanism is mounted on the housing 51 and is used to drive the first traveling wheel 52 to rotate. The transmission component 9 is located on the side of one of the housings 51 and is used to drive the two second traveling wheels 53 to rotate.

[0050] Furthermore, it also includes an assembly frame 6, a proximity sensor 7, and a disc 8. The assembly frame 6 is used to support and install the proximity sensor 7, which is used to sense the movement position of the dry-hanging cleaning robot so that it can rotate according to the angle of sunlight. The assembly frame 6 is fixedly connected to the bottom of the flexible photovoltaic panel 3, the proximity sensor 7 is installed on the assembly frame 6, and the disc 8 is installed on the bottom of two of the second walking wheels 53.

[0051] Furthermore, the walking assembly 5 also includes a rotating frame 55, a drive rod 56, a cover plate 515, a bracket 516, and a connecting shaft 517. The rotating frame 55 serves to support the main beam 1 and facilitates rotational swinging. The drive rod 56 drives the roller brush 2 to rotate, thereby rotating the photovoltaic panel assembly. The cover plate 515 seals the interior of the housing 51. The bracket 516 connects to the main beam 1 for installation. The connecting shaft 517 drives the first walking wheel 52 to rotate and simultaneously drives the first reversing gear 9. 5. The rotating frame 55 is installed on the side of one of the housings 51. The end of the main beam 1 is installed inside the rotating frame 55. The drive rod 56 is rotatably connected to the side of the housing 51. The drive rod 56 is located inside the rotating frame 55 and is inserted through the end of the roller brush 2. The cover plate 515 is installed on the other side of the housing 51. The bracket 516 is fixedly connected to the side of the other housing 51. The other end of the main beam 1 is installed inside the bracket 516. The end of the connecting shaft 517 is fixedly connected to the first traveling wheel 52. The connecting shaft 517 is rotatably connected to the housing 51.

[0052] Specifically, the drive mechanism includes a drive component 54, a second gear 58, a third gear 59, a chain 510, and a sensor 514. The drive component 54 can be a servo motor. The drive component 54 facilitates the rotation of the first gear 57, so that the chain 510 can transmit power to drive the second gear 58 and the third gear 59 to rotate. The drive component 54 is fixedly connected to the side of the housing 51. The output end of the drive component 54 is connected to the first gear 57. The second gear 58 is fixedly connected to the end of the drive rod 56. The third gear 59 is fixedly connected to the end of the connecting shaft 517. The chain 510 is meshed with the first gear 57, the second gear 58, and the third gear 59. The sensor 514 is located inside another housing 51. The bottom of the other housing 51 is rotatably connected to an assembly shaft. The end of the assembly shaft is fixedly connected to the sensor 514. The other end of the assembly shaft is fixedly connected to an assembly frame. The other two second traveling wheels 53 are rotatably connected to the assembly frame.

[0053] More specifically, the drive mechanism also includes a fixed frame 511 and a tensioning bracket 512. The fixed frame 511 is used to support the tensioning bracket 512, and the tensioning bracket 512 is used to allow the fourth gear 513 to rotate inside it in order to adjust the tension of the chain 510. The fixed frame 511 is fixedly connected to the inner wall of the housing 51, and the tensioning bracket 512 is mounted on the fixed frame 511. The fourth gear 513 is rotatably connected inside the tensioning bracket 512, and the fourth gear 513 is meshed with the chain 510.

[0054] In particular, the transmission assembly 9 includes a fixed housing 91, a bearing housing 92, a transmission shaft 94, and a first reversing gear 95. The fixed housing 91 facilitates sealing between the connecting shafts 517 and supports the transmission shaft 94. The bearing housing 92 supports the rotation of the connecting shaft 517. The transmission shaft 94 drives the second reversing gear 93 and the second traveling wheel 53 to rotate. The first reversing gear 95 meshes with the second reversing gear 93, thereby facilitating the driving of the transmission shaft 94 by the connecting shaft 517, so as to drive the two first traveling wheels 52 to rotate. Two second traveling wheels 53 rotate to perform walking and swinging operations. A fixed box 91 is fixedly connected to the side of one of the housings 51. A bearing seat 92 is sleeved on the outside of the connecting shaft 517 and installed on the side of the fixed box 91. A drive shaft 94 is rotatably inserted and connected to the bottom of the fixed box 91. The end of the drive shaft 94 is fixedly connected to two of the second traveling wheels 53. A first reversing gear 95 is fixedly sleeved on the outside of the connecting shaft 517. The first reversing gear 95 is meshed with a second reversing gear 93. The second reversing gear 93 is fixedly sleeved on the outside of the drive shaft 94.

[0055] Finally, it should be noted that the above description is only a preferred embodiment of the present utility model and is not intended to limit the present utility model. Although the present utility model has been described in detail with reference to the foregoing embodiments, those skilled in the art can still modify the technical solutions described in the foregoing embodiments or make equivalent substitutions for some of the technical features. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present utility model should be included within the protection scope of the present utility model.

Claims

1. A walking mechanism for a dry-hanging sweeping robot, characterized in that, include: The main beam (1) has a roller brush (2) installed below it, and a flexible photovoltaic panel (3) and an electrical box (4) are installed on the top of the main beam (1); A walking assembly (5) is disposed at the end of the roller brush (2), the walking assembly (5) comprising: The housing (51) is located on the side of the roller brush (2); The first traveling wheel (52) is rotatably disposed on the side of the housing (51), and the bottom of the first traveling wheel (52) is provided with a second traveling wheel (53); A drive mechanism is disposed on the housing (51), and the drive mechanism is used to drive the first walking wheel (52) to rotate; A transmission assembly (9) is disposed on the side of one of the housings (51), the transmission assembly (9) being used to drive two of the first traveling wheels (52) to rotate two of the second traveling wheels (53).

2. The walking mechanism of the dry-hanging cleaning robot according to claim 1, wherein, Also includes: An assembly frame (6) is fixedly connected to the bottom of the flexible photovoltaic panel (3); A proximity sensor (7) is mounted on an assembly frame (6); A disc (8) is mounted on the bottom of two of the second traveling wheels (53).

3. The walking mechanism of the dry-hanging cleaning robot according to claim 1, wherein, The walking component (5) also includes: A rotating frame (55) is mounted on the side of one of the housings (51), and the end of the main beam (1) is mounted inside the rotating frame (55); A drive rod (56) is rotatably connected to the side of the housing (51). The drive rod (56) is located inside the rotating frame (55) and is inserted through the end of the roller brush (2). A cover plate (515) is mounted on the other side of the housing (51); A bracket (516) is fixedly connected to the side of another housing (51), and the other end of the main beam (1) is installed inside the bracket (516); A connecting shaft (517) is fixedly connected at its end to the first traveling wheel (52), and the connecting shaft (517) is rotatably connected to the housing (51).

4. The walking mechanism of the dry-hanging cleaning robot according to claim 1, wherein, The drive mechanism includes: A drive unit (54) is fixedly connected to the side of the housing (51), and the output end of the drive unit (54) is connected to a first gear (57). The second gear (58) is fixedly connected to the end of the drive rod (56); The third gear (59) is fixedly connected to the end of the connecting shaft (517); A chain (510) meshes with a first gear (57), a second gear (58) and a third gear (59); The sensor (514) is located inside another housing (51), the bottom of which is rotatably connected to an assembly shaft, the end of which is fixedly connected to the sensor (514), and the other end of which is fixedly connected to an assembly frame, wherein two other second wheels (53) are rotatably connected to the assembly frame.

5. The walking mechanism of the dry-hanging cleaning robot according to claim 4, wherein, The drive mechanism also includes: A fixing frame (511) is fixedly connected to the inner wall of the housing (51); Tensioning bracket (512) is mounted on fixed frame (511). The tensioning bracket (512) is rotatably connected to a fourth gear (513), which is meshed with chain (510).

6. The walking mechanism of the dry-hanging cleaning robot according to claim 1, wherein, The transmission assembly (9) includes: A fixed box (91) is fixedly connected to the side of one of the housings (51); Bearing housing (92), the bearing housing (92) is sleeved on the outside of the connecting shaft (517), the bearing housing (92) is installed on the side of the fixed box (91); A drive shaft (94) is rotatably inserted into the bottom of a fixed box (91), and the end of the drive shaft (94) is fixedly connected to two of the second traveling wheels (53). A first reversing gear (95) is fixedly sleeved on the outside of the connecting shaft (517). The first reversing gear (95) is meshed with a second reversing gear (93), which is fixedly sleeved on the outside of the transmission shaft (94).

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