Crawler walking mechanism and photovoltaic panel cleaning trolley thereof

Abstract

The utility model discloses a crawler walking mechanism and a photovoltaic panel cleaning trolley thereof. The crawler walking mechanism comprises two driving wheels, a plurality of driven wheel sets, a buffering component and a main frame. The two driving wheels are movably connected to the two ends of the main frame and driven by a driving component to rotate. The driven wheel set is arranged between the two driving wheels, and the peripheral sides of the two driving wheels are connected through a crawler belt; one end of the buffering part is connected with the main frame, the other end of the buffering part is connected with the driven wheel set, and the driven wheel set adjusts the height in a floating mode through the buffering part. The crawler belt walking mechanism is provided with the buffer component for performing floating adjustment on the height of the driven wheel set so as to adapt to the position of the connecting protruding part of the two photovoltaic panels or the protruding position of the ground, it is ensured that the maximum contact area between the crawler belt and the photovoltaic panels or the ground is kept all the time, slipping caused by local suspension of the crawler belt is prevented, stable walking can be achieved, and bumping is reduced.

Description

Technical Field

[0001] This utility model belongs to the field of robotics technology, and specifically relates to a tracked walking mechanism and its photovoltaic panel cleaning vehicle. Background Technology

[0002] Photovoltaic panel cleaning robots are used to clean the photovoltaic panels in photovoltaic power plants. Over time, dust can easily accumulate on the surface of photovoltaic panels, affecting power generation efficiency.

[0003] Cleaning robots typically have a walking mechanism mounted on a chassis for movement, usually in the form of tracks. In the track assembly, the drive wheels are located at the rear, and during actual use, the drive wheels and tracks are connected via toothed engagement. For photovoltaic panel cleaning robots, to ensure the photovoltaic panels are not damaged, the tracks are typically required to maintain maximum contact with them. Therefore, the drive wheels are usually at the same height as the other driven wheels. However, this design means that when the robot encounters protruding areas at the photovoltaic panel connections, it cannot adaptively adjust the height of the driven wheels. This prevents the tracks from maintaining maximum contact with the panels in such situations, leading to partial track suspension and slippage, which affects the robot's stability. Utility Model Content

[0004] To address the aforementioned issues, this invention provides a tracked walking mechanism and its photovoltaic panel cleaning trolley, which solves the problem that existing tracked photovoltaic panel cleaning robots experience partial suspension of the track and slippage when encountering protruding areas at the connection points of photovoltaic panels during operation, thus affecting the walking stability of the cleaning robot.

[0005] To achieve the above objectives, the technical solution adopted by this utility model is as follows:

[0006] A tracked walking mechanism and its photovoltaic panel cleaning vehicle include two driving wheels, multiple driven wheel sets, a buffer component, and a main frame; the two driving wheels are movably connected to both ends of the main frame and are driven to rotate by a drive component; the driven wheel sets are disposed between the two driving wheels, and their peripheries are connected by a track; one end of the buffer component is connected to the main frame, and the other end is connected to the driven wheel sets, and the height of the driven wheel sets is adjusted by floating through the buffer component.

[0007] Preferably, the main frame includes two limiting plates, which are arranged opposite to each other and connected by a reinforcing plate and multiple limiting rods. The buffer component is connected between the two limiting plates by the limiting rods. A handle is provided on one side of the main frame, and two connecting arms are provided on the side of the main frame with the handle, symmetrically arranged at both ends of the main frame.

[0008] Preferably, the buffer component includes a first connecting rod, a spring, and a second connecting rod. The ends of the first connecting rod are respectively connected to the opposing surfaces of the two limiting plates. One end of the spring is connected to the middle periphery of the first connecting rod, and the other end is connected to the middle of the second connecting rod. One end of the second connecting rod is movably sleeved on the periphery of the limiting rod, and the other end is sleeved on the periphery of the central shaft of the driven wheel assembly.

[0009] Preferably, the middle part of the second connecting rod is provided with a relief groove corresponding to the spring, and one end of the spring passes through the relief groove and is limited by a pin.

[0010] Preferably, the handle has a U-shaped structure, with its ends extending through two limiting plates and connected to the limiting plates in sequence, and the middle part of the handle protruding from one of the limiting plates.

[0011] Preferably, the central shaft of one of the drive wheels is connected to the reinforcing plate via a third connecting rod.

[0012] Preferably, the driven wheel assembly includes two driven wheels, the central shafts of the two driven wheels are connected to each other, and the buffer component is connected to the middle of the central shaft connecting the two driven wheels.

[0013] Another objective of this invention is to provide a photovoltaic panel cleaning vehicle that utilizes the aforementioned tracked walking mechanism, wherein the tracked walking mechanism is disposed on both sides of the photovoltaic panel cleaning vehicle.

[0014] Compared with existing technologies, the beneficial effects of this utility model are as follows:

[0015] The tracked walking mechanism is equipped with a buffer component that allows for floating adjustment of the height of the driven wheel set. This adapts to the position of the connection protrusion of the two photovoltaic panels or the ground protrusion, ensuring that the track always maintains the maximum contact area with the photovoltaic panel or the ground. This prevents the track from being partially suspended and slipping, enabling smooth walking and reducing bumps. Attached Figure Description

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

[0017] Figure 2 This is a schematic diagram of the tracked walking mechanism of this utility model from another angle;

[0018] Figure 3 yes Figure 2 Exploded view at the angle shown;

[0019] Figure 4 This is a top exploded view of the tracked walking mechanism of this utility model;

[0020] Figure 5This is a schematic diagram of the tracked walking mechanism of this utility model applied to a photovoltaic panel cleaning vehicle.

[0021] In the attached diagram, 1-drive wheel, 2-driven wheel set, 3-buffer component, 31-first connecting rod, 32-spring, 33-second connecting rod, 4-main frame, 41-limiting plate, 42-reinforcing plate, 43-limiting rod, 5-track, 6-handle, 7-connecting arm, 8-third connecting rod, 9-photovoltaic panel cleaning trolley, 91-cleaning module. Detailed Implementation

[0022] To make the objectives, technical solutions and advantages of this utility model clearer, the embodiments of this utility model will be described in further detail below with reference to the accompanying drawings.

[0023] Where the following description relates to the accompanying drawings, unless otherwise indicated, the same numbers in different drawings denote the same or similar elements. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with this invention. Rather, they are merely examples of apparatuses and methods consistent with some aspects of this invention as detailed in the appended claims.

[0024] In the description of this utility model, it should be understood that the terms "first," "second," etc., are used for descriptive purposes only and should not be construed as indicating or implying relative importance. Those skilled in the art can understand the specific meaning of these terms in this utility model based on the specific circumstances. Furthermore, in the description of this utility model, unless otherwise stated, "multiple" refers to two or more. "And / or" describes the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can represent: A existing alone, A and B existing simultaneously, or B existing alone. The character " / " generally indicates that the preceding and following related objects have an "or" relationship.

[0025] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention pertains. The terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. The term "and / or" as used herein includes any and all combinations of one or more of the associated listed items.

[0026] To resolve the above issues, please refer to [link / reference]. Figures 1 to 4This utility model provides a tracked walking mechanism and its photovoltaic panel cleaning vehicle, including two driving wheels 1, multiple driven wheel sets 2, a buffer component 3, and a main frame 4. The two driving wheels 1 are movably connected to both ends of the main frame 4 and are driven to rotate by a driving component. The driven wheel sets 2 are disposed between the two driving wheels 1, and their peripheries are connected by a track 5. One end of the buffer component 3 is connected to the main frame 4, and the other end is connected to the driven wheel sets 2. The driven wheel sets 2 are adjusted in height by floating through the buffer component 3. A handle 6 is provided on one side of the main frame 4, and two connecting arms 7 are provided on the side of the main frame 4 with the handle 6, symmetrically arranged at both ends of the main frame 4. The driving wheels 1 are movably connected to the main frame 4 by a driving component such as a motor, so that they rotate relative to the main frame 4 to cooperate with the driven wheel sets 2 and the track 5 to achieve walking.

[0027] In optional embodiments, such as Figure 2 and Figure 4 As shown, the main frame 4 includes two limiting plates 41, which are arranged opposite to each other and connected by a reinforcing plate 42 and multiple limiting rods 43. The buffer component 3 is connected between the two limiting plates 41 by the limiting rods 43. One of the limiting plates 41 is used to connect the tracked walking mechanism and the photovoltaic panel cleaning vehicle 9. The two limiting plates 41 are fixed to each other by the reinforcing plate 42 and the limiting rods 43, which can determine the relative position between the two limiting plates 41, making it less likely to shift or deform, and ensuring the robustness and stability of the tracked walking mechanism. The reinforcing plate 42 has a U-shaped structure, and its two ends are screwed between the two limiting plates 41. The limiting rods 43 are set between the driven wheel set 2 and the driving wheel 1 and between adjacent driven wheel sets 2.

[0028] In optional embodiments, such as Figure 3 As shown, the buffer component 3 includes a first connecting rod 31, a spring 32, and a second connecting rod 33. The ends of the first connecting rod 31 are respectively connected to the opposing surfaces of the two limiting plates 41. One end of the spring 32 is connected to the middle periphery of the first connecting rod 31, and the other end is connected to the middle of the second connecting rod 33. One end of the second connecting rod 33 is movably sleeved on the periphery of the limiting rod 43, and the other end is sleeved on the periphery of the central shaft of the driven wheel assembly 2. A clearance groove is provided in the middle of the second connecting rod 33 corresponding to the spring 32. One end of the spring 32 passes through the clearance groove and is limited by a pin. When the cleaning trolley encounters a protruding area where a photovoltaic panel is docked during its movement, the photovoltaic panel presses against the driven wheel assembly 2, causing the spring 32 to be compressed. The second connecting rod 33 then rotates relative to the first connecting rod 31, and the height of the driven wheel assembly 2 is adjusted to adapt to the surface of the photovoltaic panel, ensuring that the track 5 always maintains the maximum contact area with the photovoltaic panel, preventing the track 5 from being partially suspended and slipping.

[0029] In optional embodiments, such as Figure 4 As shown, the handle 6 has a U-shaped structure, with its end extending through and connecting to the two limiting plates 41. The middle part of the handle 6 protrudes from one of the limiting plates 41. Specifically, the middle part of the handle 6, i.e., the gripping part, is located on the limiting plate 41 on the side away from the cleaning cart. The end of the handle 6 extends from the limiting plate 41 on that side to the limiting plate 41 on the other side and connects to it. Tracked walking mechanisms are mostly used in pairs. Therefore, when using a cleaning cart with a tracked walking mechanism, the worker uses its handle 6 to lift the cleaning cart from the transport tool and place it on the ground, providing a gripping point for convenient handling.

[0030] In optional embodiments, such as Figure 4 As shown, the central shaft of one of the driving wheels 1 is connected to the reinforcing plate 42 via a third connecting rod 8. Specifically, the driving wheel 1 on this side is composed of two driving wheels that share a central shaft for synchronous rotation. The third connecting rod 8 has a hole corresponding to the middle of its central shaft, and a bearing is provided on the hole wall. The third connecting rod 8, in conjunction with the reinforcing plate 42, ensures stable connection and smooth rotation of the driving wheel 1. Furthermore, the driven wheel assembly 2 includes two driven wheels, the central shafts of which are interconnected. The buffer component 3 is connected to the middle of the central shaft connecting the two driven wheels. The two driven wheels rotate autonomously and synchronously relative to the central axis in cooperation with the driving wheel 1 and the track 5. This ensures that there is sufficient contact surface between the driven wheel set 2 and the track 5, ensuring the stable operation of the track 5. When encountering road surfaces or photovoltaic panels with protrusions, the driven wheel set 2 can rotate relative to the limit rod 43 through the second connecting rod 33 to raise or lower the height of the driven wheel set 2 to adapt to the scene, reduce bumps, and keep the track 5 in contact with the ground or photovoltaic panel surface at all times.

[0031] Reference Figure 5 This utility model also proposes a photovoltaic panel cleaning vehicle 9, wherein the tracked walking mechanism is disposed on both sides of the photovoltaic panel cleaning vehicle 9. The specific structure of the tracked walking mechanism is as described in the above embodiments. Since this photovoltaic panel cleaning vehicle 9 adopts all the technical solutions of all the above embodiments, it has at least all the beneficial effects brought about by the technical solutions of the above embodiments, and will not be described in detail here. The tracked walking mechanism is disposed on both sides of the vehicle body. In this embodiment, five sets of driven wheel sets 2 and buffer components 3 are provided, and they are equally spaced on the main frame 4. The photovoltaic panel cleaning vehicle 9 also includes a cleaning module 91, a GPS module, and a control module, etc., which work together with the tracked walking mechanism to continuously clean the surface of the photovoltaic panel.

[0032] In summary, the tracked walking mechanism is equipped with a buffer component 3 that allows for floating adjustment of the height of the driven wheel assembly 2, adapting to the position of the connecting protrusions of the two photovoltaic panels or the ground protrusions. This ensures that the track 5 always maintains the maximum contact area with the photovoltaic panel or the ground, preventing slippage caused by partial suspension of the track 5, enabling smooth walking and reducing bumps.

[0033] In the accompanying drawings of this embodiment, the same or similar reference numerals correspond to the same or similar components. In the description of this utility model, it should be understood that if terms such as "upper," "lower," "left," and "right" indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, they are only for the convenience of describing this utility model and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, the terms used to describe positional relationships in the drawings are only for illustrative purposes and should not be construed as limiting this utility model. For those skilled in the art, the specific meaning of the above terms can be understood according to the specific circumstances.

[0034] The above are merely preferred embodiments of the present utility model and are not intended to limit the present utility model. Any modifications, equivalent substitutions, and improvements 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 track walking mechanism applied to walking on the surface of a photovoltaic panel, characterized in that, It includes two drive wheels, multiple driven wheel sets, a buffer component, and a main frame; the two drive wheels are movably connected to both ends of the main frame and are driven to rotate by a drive component; the driven wheel sets are disposed between the two drive wheels, and their peripheries are connected by a track; one end of the buffer component is connected to the main frame, and the other end is connected to the driven wheel sets, and the height of the driven wheel sets is adjusted by floating through the buffer component.

2. The track according to claim 1, characterized in that The main frame includes two limiting plates, which are arranged opposite to each other and connected by a reinforcing plate and multiple limiting rods. The buffer component is connected between the two limiting plates by the limiting rods. A handle is provided on one side of the main frame, and two connecting arms are provided on the side of the main frame with the handle, which are symmetrically arranged at both ends of the main frame.

3. The track according to claim 2, characterized in that The buffer component includes a first connecting rod, a spring, and a second connecting rod. The ends of the first connecting rod are respectively connected to the opposing surfaces of the two limiting plates. One end of the spring is connected to the middle periphery of the first connecting rod, and the other end is connected to the middle of the second connecting rod. One end of the second connecting rod is movably sleeved on the periphery of the limiting rod, and the other end is sleeved on the periphery of the central shaft of the driven wheel assembly.

4. The track according to claim 3, characterized in that The second connecting rod has a relief groove in the middle corresponding to the spring, and one end of the spring passes through the relief groove and is limited by a pin.

5. The track of claim 2, wherein, The handle has a U-shaped structure, with two limiting plates extending through its ends and connected to the limiting plates in sequence. The middle part of the handle protrudes from one of the limiting plates.

6. The track of claim 2, wherein, The central shaft of one of the drive wheels is connected to the reinforcing plate via a third connecting rod.

7. The track of claim 1, wherein, The driven wheel assembly includes two driven wheels, the central shafts of the two driven wheels are connected to each other, and the buffer component is connected to the middle of the central shaft connecting the two driven wheels.

8. A photovoltaic panel cleaning trolley characterised in that, Includes the tracked walking mechanism as described in any one of claims 1 to 7.

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