Photovoltaic robot free cross-row transfer device

Abstract

The utility model provides a kind of photovoltaic robot free cross-row transfer device, belong to photovoltaic power plant cleaning technical field. Including mobile base, mobile base is equipped with the first drive component for urging itself to walk on ground, first support is rotatably arranged on mobile base, second drive component for urging the rotation of first support is arranged on mobile base, the top of first support is provided with second support, second support is lifted and overturned relative to first support by third drive component, third support for carrying photovoltaic robot is arranged on second support. First support is rotated relative to mobile base, can make the side of third support and the side of photovoltaic panel group move to parallel, then second support is lifted and overturned relative to third support, can be third support surface and photovoltaic panel group surface flush, can make photovoltaic robot can be moved stably on photovoltaic panel group, with the effect of improving the adaptability of transfer device in different scenarios.

Description

Technical Field

[0001] This utility model relates to the field of photovoltaic power station cleaning technology, and in particular to a photovoltaic robot free-crossing and moving device. Background Technology

[0002] The use of solar energy as an energy source and power source has a history of over 300 years. However, with the increasing scarcity of resources such as oil and coal, developing solar energy as a urgently needed new energy source and the foundation of the future energy structure has become a pressing research topic in recent years. Solar photovoltaic panels are power generation devices that produce direct current (DC) electricity when exposed to sunlight, and they are currently widely used in various fields to provide clean and sustainable electricity.

[0003] However, photovoltaic panels are usually exposed outdoors, and over time, their surfaces inevitably become covered with dust and grime, affecting their photoelectric conversion efficiency. Therefore, photovoltaic panels need to be cleaned regularly. Currently, there are various methods for cleaning photovoltaic panels, including manual cleaning using handheld automatic cleaning equipment, but this method suffers from high labor costs.

[0004] Patent CN222395643U discloses a photovoltaic cleaning cross-row mechanism. The mechanism is driven by a drive motor that rotates the drive wheel through a transmission shaft, thereby driving the cross-row machine to move. After reaching the corresponding photovoltaic module position, the control box communicates with the photovoltaic cleaning robot and sends a signal to the robot to perform the cleaning work. After the work is completed, the robot returns to the cross-row machine's stopping position and then moves with the cross-row machine to the next row of photovoltaic modules to clean until all the covered areas are cleaned.

[0005] However, in current photovoltaic cleaning robot shuttle vehicles and similar equipment, the parking space brackets used to support the photovoltaic cleaning robots are mostly fixed. That is, the height, tilt and orientation of the parking space brackets cannot be adjusted. For shuttle vehicles that move freely outdoors, the uneven ground around the photovoltaic modules needs to be taken into account. The parking space brackets cannot be aligned with the photovoltaic panels in the photovoltaic modules, making it difficult for the photovoltaic cleaning robot to move smoothly between the parking brackets and the photovoltaic modules. Utility Model Content

[0006] In view of the above problems, this utility model provides a photovoltaic robot free-spanning transfer device.

[0007] To achieve the above-mentioned objectives, the technical solution adopted by this utility model is as follows:

[0008] A photovoltaic robot free-moving device is provided, including a mobile base, a first drive component for driving itself to walk on the ground, a first support rotatably mounted on the mobile base, a second drive component for driving the first support to rotate on the mobile base, a second support mounted above the first support, the second support being raised, lowered and rotated relative to the first support by a third drive component, and a third support for supporting the photovoltaic robot on the second support.

[0009] Furthermore, the first drive assembly includes a gear assembly and a track. Gear assemblies are rotatably mounted on both sides of the movable base, and the track is wound around the gear assembly. A first drive motor for driving the gear assembly to rotate is installed inside the movable base.

[0010] Furthermore, the second drive assembly includes a first drive gear, a driven gear, and a second drive motor. A rotating seat is provided on the first bracket, the driven gear is coaxially fixed on the rotating seat, and the second drive motor is fixed on the movable seat. The second drive motor is used to drive the first drive gear to rotate, and the first drive gear meshes with the driven gear.

[0011] Furthermore, the third drive assembly includes a first support frame and a second support frame. One end of the first support frame is hinged to the first bracket, and the other end is linearly slidably connected to the second bracket. One end of the second support frame is hinged to the second bracket, and the other end is linearly slidably connected to the first bracket. The first support frame and the second support frame intersect each other. A first support cylinder is hingedly mounted on the first support frame, and the movable end of the first support cylinder is hinged to the second support frame. A second support cylinder is hingedly mounted on the second support frame, and the movable end of the second support cylinder is hinged to the first support frame. The first support cylinder and the second support cylinder are located on both sides of the intersection center of the first support frame and the second support frame, respectively.

[0012] Furthermore, the third bracket is slidably connected to the second bracket along its own width direction. The second bracket is provided with a fourth drive assembly for driving the third bracket to move. The fourth drive assembly includes a third drive motor and a second drive gear. A driven rack is fixedly provided on the third bracket along its own width direction. The third drive motor is fixedly provided on the second bracket for driving the second drive gear to rotate. The second drive gear meshes with the driven rack.

[0013] Furthermore, multiple laser sensors are spaced apart along the length of the side wall of the third support that slides out from the second support.

[0014] The beneficial effects of this utility model are as follows: the mobile base can move on the ground through the track drive, and the side of the third support can be moved to be parallel to the side of the photovoltaic panel group by the rotation of the first support relative to the mobile base. Finally, the second support can be raised, lowered and flipped relative to the third support, so that the surface of the third support is flush with the surface of the photovoltaic panel group. This allows the transfer device to drive the surface of the third support to be flush with the surface of the photovoltaic panel group even in uneven outdoor scenes, so that the photovoltaic robot can move smoothly onto the photovoltaic panel group and improve the adaptability of the transfer device in different scenarios. Attached Figure Description

[0015] Figure 1 This is a schematic diagram of the overall structure of the cross-row transfer device in this application embodiment, which carries the photovoltaic robot.

[0016] Figure 2 This is a structural schematic diagram of the cross-row transfer device according to an embodiment of this application from another perspective.

[0017] Figure 3 This is a schematic diagram of the structure of the third support in the embodiment of this application, showing the state in which the third support is removed from one side of the second support.

[0018] The components include: 1. Movable base; 11. Large gear; 12. Small gear; 13. Track; 2. First support; 21. Rotating seat; 22. First drive gear; 23. Driven gear; 24. Second drive motor; 3. Second support; 4. Third support; 5. Photovoltaic robot; 61. First support frame; 62. Second support frame; 63. First support cylinder; 64. Second support cylinder; 65. Slide groove; 71. Third drive motor; 72. Second drive gear; 73. Rack; 8. Laser sensor. Detailed Implementation

[0019] To better understand the above technical solutions, the following will provide a detailed explanation of the technical solutions in conjunction with the accompanying drawings and specific implementation methods.

[0020] This application discloses a photovoltaic robot free-spanning transfer device, referring to... Figure 1 , Figure 2 and Figure 3 It includes a movable base 1, on which a first bracket 2 is rotatably mounted; above the first bracket 2 is a second bracket 3; and on the second bracket 3 is a third bracket 4 for supporting the photovoltaic robot 5.

[0021] The photovoltaic robot 5 is specifically a photovoltaic cleaning robot, which includes a mounting frame slightly longer than the third support 4. Support pulleys are rotatably mounted at both ends of the mounting frame along its length. These pulleys can roll and contact the top wall of the third support 4 and the two end faces of the third support 4 along its length. A motor is mounted on the mounting frame to drive the support pulleys to rotate, enabling the photovoltaic robot 5 to move autonomously. A roller is rotatably mounted on the bottom wall of the mounting frame, with its axis parallel to the length of the mounting frame. The roller surface is equipped with bristles, and a motor is also mounted on the mounting frame to drive the roller to rotate.

[0022] The mobile base 1 is equipped with a first drive assembly, which moves the mobile base 1 on the ground. The mobile base 1 is equipped with a second drive assembly for driving the first support 2 to rotate horizontally. A third drive assembly is located between the first support 2 and the second support 3, which enables the second support 3 to be raised, lowered, or flipped relative to the first support 2. When the mobile base 1 moves to one side of the photovoltaic panel group to be cleaned, the first support 2 is first driven to rotate, so that the side of the third support 4 closest to the photovoltaic panel group is parallel to the side of the photovoltaic panel group. Then, the second drive assembly drives the second support 3 to rise, lower, and flip, so that the third support 4 is parallel to the surface of the photovoltaic panel group. This allows the robot to drive onto the photovoltaic panel group to clean it, and the cross-row transfer device can adapt to different terrains to deliver the photovoltaic robot 5 onto the photovoltaic panel group.

[0023] Specifically, the first drive assembly includes a gear assembly and a track 13. Gear assemblies are rotatably mounted on both sides of the mobile base 1. Each gear assembly may include two large gears 11 and several small gears 12. The two large gears 11 are distributed on both sides of the small gears 12, with their bottoms flush. The track 13 is fitted onto the two large gears 11. When the mobile base 1 moves on the ground, the track 13 remains engaged with the bottoms of the small gears 12. A first drive motor for driving the gear assemblies is located within the mobile base 1. Each gear assembly corresponds to a first drive motor. The forward, backward, and turning movements of the device are achieved through synchronous forward and reverse rotation and differential rotation of the two first drive motors.

[0024] The bottom of the first bracket 2 is fixed with a rotating seat 21, and the first bracket 2 is rotatably mounted on the movable base 1. In this embodiment, the second drive assembly includes a first drive gear 22, a driven gear 23, and a second drive motor 24. The driven gear 23 is coaxially fixed on the rotating seat 21, and the second drive motor 24 is fixed on the movable base. The second drive motor 24 drives the first drive gear 22 to rotate, and the first drive gear 22 meshes with the driven gear 23. By driving the rotating seat 21 to rotate relative to the movable base 1, the second bracket 3, the third bracket 4, etc., on the device can rotate by an angle.

[0025] In this embodiment, the third drive component includes a first support frame 61 and a second support frame 62. Both the first and second support frames consist of at least two support rods and a connecting rod connecting the support rods. The support rods and connecting rods form a stable frame structure. One end of the first support frame 61 is hinged to the first bracket 2, and the other end is linearly slidably connected to the second bracket 3. One end of the second support frame 62 is hinged to the second bracket 3, and the other end is linearly slidably connected to the first bracket 2. The first and second support frames 61 and 62 intersect each other. In this embodiment, the intersection axis of the first and second support frames 61 is located on the same side of their intersection center. A support shaft is fixedly connected to the other end of the first and second support frames 61 and 62. Slide grooves 65 are provided on both the first bracket 2 and the second bracket 3, and the support shaft is slidably connected within the slide grooves 65. In this embodiment, a first support cylinder 63 is hinged to the first support frame 61, and the movable end of the first support cylinder 63 is hinged to the second support frame 62. A second support cylinder 64 is hinged to the second support frame 62, and the movable end of the second support cylinder 64 is hinged to the first support frame 61. The first support cylinder 63 and the second support cylinder 64 are located on opposite sides of the intersection center of the first support frame 61 and the second support frame 62, respectively. By controlling the extension and retraction of the piston rods of the first support cylinder 63 and the second support cylinder 64, the second bracket 3 can be adjusted to move parallel to or rotate relative to the first bracket 2. This allows the third bracket 4 to be adjusted to be flush with the surface of the photovoltaic panel assembly.

[0026] Furthermore, the third support 4 can slide along its width direction and connect to the second support 3. The second support 3 is equipped with a fourth drive assembly for driving the third support 4 to move. The fourth drive assembly includes a third drive motor 71 and a second drive gear 72. A driven rack 73 is fixedly mounted on the third support 4 along its width direction. The third drive motor 71 is fixedly mounted on the second support 3 to drive the second drive gear 72 to rotate. The second drive gear 72 meshes with the driven rack 73. By driving the third support 4 to move, the third support 4 can be moved out from one side of the second support 3, allowing the third support 4 to align with the side of the photovoltaic panel assembly. This avoids gaps between the transfer device and the photovoltaic panel assembly, which would affect the movement of the photovoltaic robot 5 between the photovoltaic panel assembly and the transfer device.

[0027] Furthermore, multiple laser sensors 8 are spaced apart along the length of the side wall of the second bracket 3 that slides off the third bracket 4. These laser sensors 8 can detect the distance between the third bracket 4 and the photovoltaic panel assembly, and can also confirm whether the third bracket 4 is flush with the photovoltaic panel assembly.

[0028] Those skilled in the art will understand that although preferred embodiments of the present invention have been described, those skilled in the art, once they understand the basic inventive concept, can make other changes and modifications to these embodiments. Therefore, the appended claims are intended to be interpreted as including the preferred embodiments as well as all changes and modifications falling within the scope of the present invention. Clearly, those skilled in the art can make various alterations and modifications to the present invention without departing from its spirit and scope. Thus, if these modifications and modifications of the present invention fall within the scope of the claims of the present invention and their equivalents, the present invention also intends to include these modifications and modifications.

Claims

1. A photovoltaic robot free-spanning and row-moving device, characterized in that: The system includes a mobile base (1), on which a first drive assembly is provided for driving itself to walk on the ground. A first support (2) is rotatably mounted on the mobile base (1). A second drive assembly is provided on the mobile base (1) for driving the first support (2) to rotate. A second support (3) is provided above the first support (2). The second support (3) is raised, lowered, and flipped relative to the first support (2) by a third drive assembly. A third support (4) is provided on the second support (3) for carrying a photovoltaic robot (5).

2. The photovoltaic robot free-spanning transfer device according to claim 1, characterized in that, The first drive assembly includes a gear assembly and a track (13). Gear assemblies are rotatably arranged on both sides of the movable base (1). The track (13) is wound around the gear assembly. A first drive motor for driving the gear assembly to rotate is provided inside the movable base (1).

3. The photovoltaic robot free-spanning transfer device according to claim 2, characterized in that, The second drive assembly includes a first drive gear (22), a driven gear (23), and a second drive motor (24). A rotating seat (21) is provided on the first bracket (2). The driven gear (23) is coaxially fixed on the rotating seat (21). The second drive motor (24) is fixed on the movable seat. The second drive motor (24) is used to drive the first drive gear (22) to rotate. The first drive gear (22) meshes with the driven gear (23).

4. The photovoltaic robot free-spanning transfer device according to claim 1, characterized in that, The third drive assembly includes a first support frame (61) and a second support frame (62). One end of the first support frame (61) is hinged to the first bracket (2), and the other end is linearly slidably connected to the second bracket (3). One end of the second support frame (62) is hinged to the second bracket (3), and the other end is linearly slidably connected to the first bracket (2). The first support frame (61) and the second support frame (62) intersect each other. A first support cylinder (63) is hinged on the first support frame (61), and the movable end of the first support cylinder (63) is hinged to the second support frame (62). A second support cylinder (64) is hinged on the second support frame (62), and the movable end of the second support cylinder (64) is hinged to the first support frame (61). The first support cylinder (63) and the second support cylinder (64) are located on both sides of the intersection center of the first support frame (61) and the second support frame (62).

5. A photovoltaic robot free-spanning transfer device according to claim 4, characterized in that, The third bracket (4) is slidably connected to the second bracket (3) along its own width direction. The second bracket (3) is provided with a fourth drive assembly for driving the third bracket (4) to move. The fourth drive assembly includes a third drive motor (71) and a second drive gear (72). A driven rack (73) is fixedly provided on the third bracket (4) along its own width direction. The third drive motor (71) is fixedly provided on the second bracket (3) for driving the second drive gear (72) to rotate. The second drive gear (72) meshes with the driven rack (73).

6. A photovoltaic robot free-spanning transfer device according to claim 5, characterized in that, Multiple laser sensors (8) are spaced apart along their own length on the side wall of the third support (4) that slides out of the second support (3).

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