A walking control assembly for a photovoltaic panel cleaning robot

Abstract

This utility model discloses a walking control assembly for a photovoltaic panel cleaning robot, relating to the field of industrial transmission and automation equipment technology. It includes two execution units, a synchronization adjustment mechanism, and a drive motor. Each execution unit contains a transmission housing, within which a horizontal shaft gear and a vertical shaft gear mesh perpendicularly. A linkage transmission shaft connects the two via a reversing bevel gear. The synchronization adjustment mechanism includes a synchronization box, into which two linkage transmission shafts pass. The end synchronization gear meshes perpendicularly with the reversing transmission gear. A limiting mechanism is provided on the side of the synchronization gear, achieving co-directional rotation through a one-way pawl engaging with a limiting gear plate. The drive motor drives one execution unit, and the synchronization adjustment mechanism ensures synchronized speeds between the two execution units. This device solves problems such as poor synchronization and loose structure in dual-unit systems, and features reliable synchronization, compact structure, strong adaptability, and diverse outputs.

Description

Technical Field

[0001] This utility model relates to the field of industrial transmission and automation equipment technology, specifically to a walking control assembly for a photovoltaic panel cleaning robot. Background Technology

[0002] In fields such as industrial transmission and automation equipment, multi-unit collaborative drive devices are often required to meet complex operational needs. However, current devices of this type suffer from several technical challenges in practical applications: First, poor synchronization between the two actuators. Existing devices often struggle to maintain consistent operating speeds and states due to transmission errors and uneven power distribution, resulting in poor overall operational stability and impacting operational accuracy. Second, unreasonable transmission structure design. Most devices have loosely arranged transmission components within their actuators, occupying significant space and exhibiting high power transmission losses and low efficiency, requiring improved integration. Third, insufficient reliability of the synchronization adjustment mechanism. Existing synchronization adjustment structures are prone to steering conflicts and transmission disengagement when achieving dual-unit steering synchronization, especially when the driving unit changes direction, making it difficult for the driven unit to accurately follow, resulting in unsatisfactory synchronization. Fourth, limited adaptability. Traditional limit mechanisms are mostly only suitable for synchronous transmission in a single direction. When the driving unit changes direction, jamming or ineffective transmission often occurs, failing to meet steering adjustment requirements under complex working conditions. Fifth, limited power output. Most devices can only achieve unidirectional power output, failing to meet the needs of multi-directional operations and significantly restricting their application scope. These issues have all limited the performance improvement and application expansion of multi-unit drive devices.

[0003] In response, we propose a walking control assembly for a photovoltaic panel cleaning robot. Utility Model Content

[0004] The purpose of this invention is to provide a walking control assembly for a photovoltaic panel cleaning robot to solve the problems mentioned in the background art.

[0005] To achieve the above objectives, the present invention provides the following technical solution: it includes two execution units, and a synchronization adjustment mechanism is provided between the two execution units for synchronizing the speed of the two execution units. It also includes a drive motor for providing driving force to one of the execution units. The synchronization adjustment mechanism is driven to connect the two execution units, and the drive end of the drive motor is driven to connect to one of the execution units.

[0006] Preferably, the execution unit includes a transmission housing, in which a horizontal shaft gear and a vertical shaft gear are rotatably mounted on two mutually perpendicular planes, and the horizontal shaft gear and the vertical shaft gear mesh with each other. A through hole is provided on a plane perpendicular to both planes, and a linkage transmission shaft is rotatably mounted in the through hole. A reversing bevel gear is fixedly mounted on one end of the linkage transmission shaft, and the reversing bevel gear meshes with the vertical shaft gear and the horizontal shaft gear.

[0007] Preferably, the synchronization adjustment mechanism includes a synchronization box, with the proximal ends of the two linkage transmission shafts passing through the synchronization box and located inside the synchronization box. It also includes a synchronization gear fixed to the outer periphery of one end of the linkage transmission shaft located inside the synchronization box. The synchronization box also has a reversing transmission gear that is perpendicular to and meshes with the two synchronization gears. Each of the two synchronization gears is provided with a limiting mechanism on the side where they are close to each other.

[0008] Preferably, the limiting mechanism includes a limiting gear plate fixedly installed on the adjacent sides of two synchronous gears. The limiting gear plate is coaxially distributed with the synchronous gears and sleeved on the outer periphery of the linkage transmission shaft. A pawl seat is also fixedly provided on the synchronous gear. The pawl seat has a one-way open slot. A one-way pawl is slidably provided in the slot. One end of the one-way pawl located in the pawl seat is elastically connected to the inner wall of the pawl seat through a return spring.

[0009] Preferably, the end of the unidirectional pawl facing the limiting toothed disc has an acute angle and engages with the teeth on the limiting toothed disc.

[0010] Preferably, one side of the horizontal shaft gear and the vertical shaft gear are respectively provided with an extension end one and an extension end two. Both the extension end one and the extension end two penetrate the outer wall of the transmission housing and are rotatably connected to the transmission housing. A first output component is fixedly provided on the end of the extension end one located outside the transmission housing, and a second output component is fixedly provided on the end of the extension end two located outside the transmission housing.

[0011] Compared with the prior art, the beneficial effects of this utility model are:

[0012] This invention, by setting up two execution units and cooperating with a synchronization adjustment mechanism, enables the two units to work collaboratively under the drive of a drive motor. The synchronization adjustment mechanism can precisely adjust the speed of the two execution units, effectively ensuring the consistency of their operation and improving overall working stability. The execution units adopt mutual perpendicular horizontal and vertical shaft gears meshing within the transmission housing, and are connected to the linkage transmission shaft through a reversing bevel gear, forming a compact and efficient transmission structure. This achieves stable power transmission, makes reasonable use of space, and enhances the integration of the structure. The perpendicular meshing of the synchronization gear and the reversing transmission gear in the synchronization adjustment mechanism... The design, combined with the unidirectional pawl and limit gear transmission of the limiting mechanism, ensures that the two actuators rotate in the same direction while the elasticity of the return spring guarantees tight transmission, preventing reverse rotation or transmission disengagement, and significantly improving the reliability of synchronous adjustment. The unidirectional open slot of the limiting mechanism, in conjunction with the acute-angle end pawl, can adapt to any direction of the driving unit and flexibly realize the synchronous rotation of the driven unit in the same direction, enhancing the adaptability of the device. In addition, the actuator can output power externally through the first and second output components set at the extension end, meeting the needs of multi-directional operation and broadening the application range of the device. Attached Figure Description

[0013] Figure 1 This is a schematic diagram of the overall structure of this utility model;

[0014] Figure 2 This is a schematic diagram of the installation structure of the execution unit and the synchronization adjustment mechanism of this utility model.

[0015] Figure 3 For practical purposes Figure 2 Schematic diagram of the structure viewed from a cross-sectional perspective;

[0016] Figure 4 This is a partial sectional view of the actuator of this utility model;

[0017] In the diagram: 100, Execution unit; 101, Transmission housing; 102, First output component; 103, Second output component; 104, Horizontal shaft gear; 105, Reversing bevel gear; 106, Vertical shaft gear; 200, Synchronization adjustment mechanism; 201, Synchronization box; 202, Synchronization gear; 203, Reversing transmission gear; 204, Limiting gear plate; 205, Paw holder; 206, One-way paw; 207, Linkage transmission shaft; 208, Return spring; 300, Drive motor. Detailed Implementation

[0018] 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.

[0019] In the description of this utility model, it should be noted that the terms "upper", "lower", "inner", "outer", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying 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, they should not be construed as limitations on this utility model.

[0020] Example 1

[0021] Please see Figure 1-3 An embodiment of this utility model includes an execution unit 100, of which there are two execution units 100. A synchronization adjustment mechanism 200 is provided between the two execution units 100 for synchronizing the speed between the two execution units 100. It also includes a drive motor 300 for providing driving force to one of the execution units 100.

[0022] The synchronous adjustment mechanism 200 is connected to two execution units 100, and the drive end of the drive motor 300 is connected to one of the execution units 100.

[0023] Furthermore, the execution unit 100 includes a transmission housing 101. A horizontal shaft gear 104 and a vertical shaft gear 106 are rotatably mounted on two mutually perpendicular planes inside the transmission housing 101. The horizontal shaft gear 104 and the vertical shaft gear 106 mesh with each other. A through hole is opened on a plane that is perpendicular to both planes. A linkage transmission shaft 207 is rotatably mounted in the through hole. A reversing bevel gear 105 is fixedly mounted on one end of the linkage transmission shaft 207. The reversing bevel gear 105 meshes with the vertical shaft gear 106 and the horizontal shaft gear 104.

[0024] One side of the horizontal shaft gear 104 and the vertical shaft gear 106 are respectively provided with an extension end one and an extension end two. Both extension end one and extension end two penetrate the outer wall of the transmission housing 101 and are rotatably connected to the transmission housing 101. The first output component 102 is fixedly provided on the end of extension end one outside the transmission housing 101, and the second output component 103 is fixedly provided on the end of extension end two outside the transmission housing 101.

[0025] The drive motor 300 provides driving force to one of the execution units 100. In this execution unit 100, the horizontal shaft gear 104 and the vertical shaft gear 106, which are perpendicular to each other in the transmission housing 101, begin to rotate due to meshing. At the same time, the linkage transmission shaft 207 (via the end reversing bevel gear 105) meshing with the two also rotates. The extension end of the horizontal shaft gear 104 drives the first output component 102 to move, and the extension end of the vertical shaft gear 106 drives the second output component 103 to move. The synchronization adjustment mechanism 200 between the two execution units 100 adjusts their speeds synchronously through the transmission connection, so that the other execution unit 100 runs at the synchronous speed. The horizontal shaft gear 104, the vertical shaft gear 106, the linkage transmission shaft 207, and the first output component 102 and the second output component 103 inside it also move accordingly.

[0026] Furthermore, the synchronization adjustment mechanism 200 includes a synchronization box 201, with the proximal ends of the two linkage drive shafts 207 passing through the synchronization box 201 and located inside the synchronization box 201. It also includes a synchronization gear 202 fixedly disposed on the outer periphery of one end of the linkage drive shaft 207 located inside the synchronization box 201. A reversing drive gear 203 is also rotatably disposed inside the synchronization box 201, which is perpendicular to and meshes with the two synchronization gears 202. A limiting mechanism is provided on the side of the two synchronization gears 202 that are close to each other. The limiting mechanism is used to keep the other synchronization gear 202 in the same direction when one of the synchronization gears 202 rotates in any direction.

[0027] When one of the linkage drive shafts 207 rotates under the action of driving force, the synchronous gear 202 located on the outer periphery of one end inside the synchronization box 201 rotates synchronously. The reversing drive gear 203 inside the synchronization box 201, which is perpendicular to and meshes with both synchronous gears 202, is driven by the synchronous gear 202 and drives the other synchronous gear 202 to rotate. At this time, the limiting mechanism on one side of the two synchronous gears 202 comes into play, ensuring that the other synchronous gear 202 maintains the same direction of rotation and rotates synchronously when one synchronous gear 202 rotates in any direction, and finally drives the other linkage drive shaft 207 to rotate synchronously. Through this series of transmission and limiting cooperation, the speed of the two execution units 100 is synchronously adjusted.

[0028] Furthermore, the limiting mechanism includes a limiting gear disk 204 fixedly installed on the adjacent sides of the two synchronous gears 202. The limiting gear disk 204 is coaxially distributed with the synchronous gears 202 and sleeved on the outer periphery of the linkage transmission shaft 207. The synchronous gears 202 are also provided with a fixed pawl seat 205. The pawl seat 205 has a one-way open slot. A one-way pawl 206 is slidably arranged in the slot. One end of the one-way pawl 206 located in the pawl seat 205 is elastically connected to the inner wall of the pawl seat 205 through a return spring 208.

[0029] Among them, the end of the one-way pawl 206 facing the limiting toothed disc 204 is an acute angle end, and it cooperates with the teeth on the limiting toothed disc 204.

[0030] When one of the linkage drive shafts 207 rotates under the action of driving force, it drives the corresponding synchronous gear 202 to rotate synchronously. The pawl seat 205 on the synchronous gear 202 rotates together. Under the elastic action of the return spring 208, the one-way pawl 206 in the slot of the pawl seat 205 engages with the teeth of the limiting tooth disk 204 on the other synchronous gear 202. Since the slot is open in one direction, when the active synchronous gear 202 rotates in any direction, the one-way pawl 206 will be inserted into the tooth gap of the limiting tooth disk 204 and push it to rotate in the same direction, thereby driving the other synchronous gear 202 to rotate synchronously. At the same time, the reversing drive gear 203 in the synchronization box 201, which is perpendicular to and meshes with the two synchronous gears 202, will cooperate in the transmission. With the bidirectional cooperation of the limiting mechanism, it is ensured that the two synchronous gears 202 always keep the same direction of rotation, and finally drive the other linkage drive shaft 207 to rotate synchronously, so as to realize the synchronous adjustment of the speed of the two execution units 100.

[0031] In summary, when one of the linkage drive shafts 207 rotates under driving force, it will drive the corresponding synchronous gear 202 and the pawl seat 205 to rotate. Under the elastic action of the return spring 208, the one-way pawl 206 in the pawl seat 205 engages with the teeth of the upper limit gear 204 of the other synchronous gear 202 with its acute angle end. By means of the one-way opening characteristic of the slot, it drives the other synchronous gear 202 to rotate in the same direction. At the same time, the reversing transmission gear 203 in the synchronization box 201 cooperates in the transmission. Combined with the bidirectional cooperation of the limit mechanism, it ensures that the two synchronous gears 202 always rotate in the same direction, and finally drives the other linkage drive shaft 207 to rotate synchronously, so as to realize the synchronous speed adjustment of the two execution units 100.

[0032] In the embodiments provided in this application, it should be understood that the disclosed apparatus and methods can be implemented in other ways. The apparatus embodiments described above are merely illustrative. For example, the division of units is only a logical functional division, and in actual implementation, there may be other division methods. Furthermore, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Additionally, the displayed or discussed mutual couplings, direct couplings, or communication connections may be through some communication interfaces; indirect couplings or communication connections between devices or units may be electrical, mechanical, or other forms.

[0033] Finally, it should be noted that the above-described embodiments are merely specific implementations of this utility model, used to illustrate the technical solution of this utility model, and not to limit it. The protection scope of this utility model is not limited thereto. Although this utility model has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that any person skilled in the art can still modify or easily conceive of changes to the technical solutions described in the foregoing embodiments, or make equivalent substitutions for some of the technical features, within the technical scope disclosed in this utility model. These modifications, changes, or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of this utility model, and should all be covered within the protection scope of this utility model. Therefore, the protection scope of this utility model should be determined by the protection scope of the claims.

Claims

1. A walking control assembly for a photovoltaic panel cleaning robot, characterized in that, The device includes two execution units (100), and a synchronization adjustment mechanism (200) is provided between the two execution units (100) for synchronizing the speed between the two execution units (100). It also includes a drive motor (300) for providing driving force to one of the execution units (100). The synchronization adjustment mechanism (200) is connected to the two execution units (100), and the drive end of the drive motor (300) is connected to one of the execution units (100). The execution unit (100) includes a transmission housing (101). A horizontal shaft gear (104) and a vertical shaft gear (106) are rotatably mounted on two mutually perpendicular planes inside the transmission housing (101). The horizontal shaft gear (104) and the vertical shaft gear (106) mesh with each other. A through hole is provided on a plane that is perpendicular to both planes. A linkage transmission shaft (207) is rotatably mounted in the through hole. A reversing bevel gear (105) is fixedly mounted on one end of the linkage transmission shaft (207). The reversing bevel gear (105) meshes with the vertical shaft gear (106) and the horizontal shaft gear (104). The synchronization adjustment mechanism (200) includes a synchronization box (201), with the near ends of the two linkage transmission shafts (207) passing through the synchronization box (201) and located inside the synchronization box (201). It also includes a synchronization gear (202) fixedly disposed on the outer periphery of one end of the linkage transmission shaft (207) inside the synchronization box (201). The synchronization box (201) is also rotatably provided with a reversing transmission gear (203) that is perpendicular to and meshes with the two synchronization gears (202). The two synchronization gears (202) are provided with a limiting mechanism on the side close to each other.

2. The photovoltaic panel cleaning robot walking control assembly according to claim 1, characterized in that, The limiting mechanism includes a limiting gear disc (204) fixedly installed on the adjacent sides of two synchronous gears (202). The limiting gear disc (204) is coaxially distributed with the synchronous gears (202) and sleeved on the outer periphery of the linkage transmission shaft (207). A pawl seat (205) is also fixedly provided on the synchronous gears (202). A one-way open slot is provided on the pawl seat (205). A one-way pawl (206) is slidably provided in the slot. One end of the one-way pawl (206) located in the pawl seat (205) is elastically connected to the inner wall of the pawl seat (205) through a return spring (208).

3. The photovoltaic panel cleaning robot walking control assembly according to claim 2, characterized in that, The one-way pawl (206) has an acute angle end facing the limiting toothed disc (204) and engages with the teeth on the limiting toothed disc (204).

4. The photovoltaic panel cleaning robot walking control assembly according to claim 3, characterized in that, The horizontal shaft gear (104) and the vertical shaft gear (106) are respectively provided with an extension end one and an extension end two on one side. Both the extension end one and the extension end two penetrate the outer wall of the transmission housing (101) and are rotatably connected to the transmission housing (101). The first output component (102) is fixedly provided on the end of the extension end one located outside the transmission housing (101), and the second output component (103) is fixedly provided on the end of the extension end two located outside the transmission housing (101).

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