A photovoltaic cleaning robot with adjustable height of cleaning side arms

Abstract

The utility model relates to photovoltaic cleaning robot technical field, especially in kind of photovoltaic cleaning side arm height adjustable photovoltaic cleaning robot, including walking mechanism, frame, hoist mechanism and cleaning mechanism, the frame includes main frame, elevating stand and elevating drive mechanism, and the main frame has opposite first side and second side, and elevating stand is set up in the first side and goes up and down along the height direction, and elevating drive mechanism sets up in the second side, and elevating drive mechanism is transmission connection with elevating stand, hoist mechanism is connected with elevating stand, when needing to adjust the height position of cleaning mechanism, through elevating drive mechanism drive elevating stand in the main frame elevating, can make hoist mechanism whole elevating, thereby realizes the position of adjusting cleaning mechanism in the height direction, need not change the elevation angle of cleaning mechanism, realizes that cleaning mechanism can return to the surface of photovoltaic board quickly and conveniently. Compared with the hydraulic telescopic arm in the prior art, has the advantage that control is simple obviously.

Description

Technical Field

[0001] This utility model relates to the field of photovoltaic cleaning robot technology, and in particular to a photovoltaic cleaning robot with adjustable height of photovoltaic cleaning side arm. Background Technology

[0002] Some existing side-arm photovoltaic cleaning robots, such as the solar panel cleaning robot disclosed in patent document CN205253699U, disclose a hydraulic telescopic arm mounted on a walking mechanism, with the end of the hydraulic telescopic arm connected to a cleaning mechanism, allowing the cleaning mechanism to clean the surface of the photovoltaic panels. However, in actual use, the cleaning mechanism needs to be adjusted vertically as needed. For example, when the ground level of the walking robot rises, the hydraulic telescopic arm rises along with the walking mechanism, causing the cleaning mechanism to leave the surface of the photovoltaic panel and become unable to effectively clean it. The cleaning mechanism then needs to be lowered to return to the surface. Similarly, when there is a height difference between adjacent photovoltaic panels, the cleaning mechanism needs to be raised and lowered. However, the hydraulic telescopic arm requires multiple hydraulic cylinders to extend and retract in tandem to adjust the vertical movement of the cleaning mechanism, resulting in complex control and hindering convenient and rapid height adjustment. Utility Model Content

[0003] The main purpose of this utility model is to provide a photovoltaic cleaning robot with an adjustable height photovoltaic cleaning arm, which aims to solve the technical problem that the existing hydraulic telescopic arm requires multiple hydraulic cylinders to extend and retract in conjunction to raise and lower the cleaning mechanism, resulting in complex control and inability to conveniently and quickly adjust the height.

[0004] To achieve the above objectives, this utility model proposes a photovoltaic cleaning robot with an adjustable height of the photovoltaic cleaning arm, comprising a walking mechanism, a frame, a lifting mechanism, and a cleaning mechanism;

[0005] The frame includes a main frame, a lifting frame, and a lifting drive mechanism. The main frame is connected to the traveling mechanism. The main frame has a first side and a second side opposite to each other. The lifting frame is arranged to move up and down along the height direction on the first side. The lifting drive mechanism is arranged on the second side. The lifting drive mechanism is connected to the lifting frame in a transmission to drive the lifting frame to move up and down.

[0006] The lifting mechanism is connected to the lifting frame and rises and falls synchronously with the lifting frame. The end of the lifting mechanism extends away from the second side and is located on the side of the first side away from the second side. The cleaning mechanism is connected to the lifting mechanism and is located on the side of the first side away from the second side.

[0007] Optionally, the lifting drive mechanism includes a power unit and a counterweight assembly. The counterweight assembly includes a counterweight base and a counterweight component. The counterweight component is mounted on the counterweight base, and the counterweight base is mounted on the main frame and moves up and down along the height direction. The power unit is driven to the counterweight base to drive the counterweight base to move up and down. The counterweight base is driven to the lifting frame so that the lifting frame moves down synchronously when the counterweight base is raised and the lifting frame moves up synchronously when the counterweight base is lowered.

[0008] Optionally, a first sprocket is provided on both the first side and the second side of the main frame. The first sprocket on the first side is positioned above the lifting frame, and the first sprocket on the second side is positioned above the counterweight seat. A first chain is provided between the counterweight seat and the lifting frame. The two ends of the first chain are fixedly connected to the counterweight seat and the lifting frame, and the first chain meshes with the two first sprockets.

[0009] Optionally, the power unit is located at the bottom of the main frame, and the power unit is positioned below the counterweight base.

[0010] Optionally, a second sprocket is provided on both the first side and the second side of the main frame. The second sprocket on the first side is located below the lifting frame, and the second sprocket on the second side is located below the counterweight seat. A second chain is provided between the counterweight seat and the lifting frame. The two ends of the second chain are fixedly connected to the counterweight seat and the lifting frame, and the second chain meshes with the two second sprockets.

[0011] The power unit includes a geared motor and a drive shaft. The geared motor is mounted on the main frame, and the drive shaft is mounted on the main frame and rotates around its own axis. A second sprocket is mounted on the drive shaft, and the geared motor is connected to the drive shaft to drive the drive shaft to rotate.

[0012] Optionally, the main frame is a square frame, with a first chain spanning the top of the main frame and a second chain spanning the bottom of the main frame.

[0013] Optionally, the counterweight seat is provided with a sleeve, the main frame is provided with a guide rod, the guide rod extends in the vertical direction, and the sleeve is fitted onto the guide rod.

[0014] Optionally, the lifting frame is equipped with a slide block, and the main frame is equipped with a guide rail, with the slide block and the guide rail slidingly engaged.

[0015] The technical solution provided by this utility model can include the following beneficial effects:

[0016] In the photovoltaic cleaning robot with an adjustable height side arm provided by this utility model, when it is necessary to adjust the height position of the cleaning mechanism, the lifting frame is driven to rise and fall on the main frame by the lifting drive mechanism, which in turn raises and falls the entire lifting mechanism. This allows for adjustment of the cleaning mechanism's position in the height direction without changing the cleaning mechanism's elevation angle, enabling the cleaning mechanism to quickly and conveniently return to the surface of the photovoltaic panel. Compared with the hydraulic telescopic arm in the prior art, it has the significant advantage of simple control.

[0017] In addition, it is worth noting that the lifting drive is located on the second side away from the lifting mechanism to balance the weight of the cleaning mechanism and the lifting mechanism, and to avoid the weight of the equipment being concentrated on the first side of the frame, which can reduce the risk of the traveling mechanism tipping over and damaging the photovoltaic panels. Attached Figure Description

[0018] To more clearly illustrate the technical solutions in the embodiments of this utility model or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this utility model. For those skilled in the art, other drawings can be obtained based on the structures shown in these drawings without creative effort.

[0019] Figure 1 This is a structural schematic diagram of the photovoltaic cleaning robot of this utility model;

[0020] Figure 2 This is a schematic diagram of the frame structure of the photovoltaic cleaning robot of this utility model;

[0021] Figure 3 This is a schematic diagram of the lifting drive mechanism of the photovoltaic cleaning robot of this utility model;

[0022] In the attached diagram: 1-walking mechanism, 2-frame, 21-main frame, 211-first side, 212-second side, 22-lifting frame, 221-slide seat, 23-lifting drive mechanism, 231-power unit, 2311-gear motor, 2312-drive shaft, 232-counterweight assembly, 2321-counterweight seat, 2322-counterweight component, 2323-sleeve, 24-first sprocket, 25-first chain, 26-second sprocket, 27-second chain, 28-guide rod, 29-guide rail, 3-lifting mechanism, 4-cleaning mechanism. Detailed Implementation

[0023] 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.

[0024] It should be noted that all directional indicators (such as up, down, left, right, front, back, etc.) in this utility model embodiment are only used to explain the relative positional relationship and movement of each component in a certain specific posture (as shown in the figure). If the specific posture changes, the directional indicator will also change accordingly.

[0025] In this utility model, unless otherwise explicitly specified and limited, the terms "connection," "fixing," etc., should be interpreted broadly. For example, "fixing" can mean a fixed connection, a detachable connection, or an integral part; it can mean a mechanical connection or an electrical connection; it can mean a direct connection or an indirect connection through an intermediate medium; it can mean the internal communication of two components or the interaction between two components, unless otherwise explicitly limited. Those skilled in the art can understand the specific meaning of the above terms in this utility model according to the specific circumstances.

[0026] Furthermore, in this utility model, descriptions involving "first," "second," etc., are for descriptive purposes only and should not be construed as indicating or implying their relative importance or implicitly specifying the number of technical features indicated. Therefore, features defined with "first" or "second" may explicitly or implicitly include at least one of those features. Additionally, the word "and / or" throughout the text means including three parallel solutions; taking "A and / or B" as an example, it includes solution A, solution B, or a solution that simultaneously satisfies A and B. Furthermore, the technical solutions of the various embodiments can be combined with each other, but this must be based on the ability of those skilled in the art to implement them. When the combination of technical solutions is contradictory or impossible to implement, it should be considered that such a combination of technical solutions does not exist and is not within the scope of protection claimed by this utility model.

[0027] The following is combined Figures 1 to 3 This invention describes a photovoltaic cleaning robot with an adjustable height of its photovoltaic cleaning arm, comprising a walking mechanism 1, a frame 2, a lifting mechanism 3, and a cleaning mechanism 4. The frame 2 includes a main frame 21, a lifting frame 22, and a lifting drive mechanism 23. The main frame 21 is connected to the walking mechanism 1 and has a first side 211 and a second side 212 opposite to each other. The lifting frame 22 is disposed on the first side 211 and is disposed on the second side 212. The lifting drive mechanism 23 is connected to the lifting frame 22 to drive the lifting frame 22 to move up and down. The lifting mechanism 3 is connected to the lifting frame 22 and moves up and down synchronously with the lifting frame 22. The end of the lifting mechanism 3 extends away from the second side 212 and is located on the side of the first side 211 away from the second side 212. The cleaning mechanism 4 is connected to the lifting mechanism 3 and is located on the side of the first side 211 away from the second side 212.

[0028] In the photovoltaic cleaning robot with an adjustable height side arm provided by this utility model, when it is necessary to adjust the height position of the cleaning mechanism 4, the lifting frame 22 is driven to rise and fall on the main frame 21 by the lifting drive mechanism 23, which in turn raises and falls the entire lifting mechanism 3. This allows for adjustment of the height position of the cleaning mechanism 4 without changing its elevation angle, enabling the cleaning mechanism 4 to quickly and conveniently return to the surface of the photovoltaic panel. Compared with the hydraulic telescopic arm in the prior art, it has the significant advantage of simple control.

[0029] In addition, it is worth noting that the lifting drive is located on the second side 212 away from the lifting mechanism 3 to balance the weight of the cleaning mechanism 4 and the lifting mechanism 3, and to avoid the weight of the equipment being concentrated on the first side 211 of the frame 2, which can reduce the risk of the walking mechanism 1 tipping over and damaging the photovoltaic panel.

[0030] Specifically, in some optional embodiments, the lifting mechanism 3 includes a boom, one end of which is connected to the lifting frame 22, and the other end of which is suspended on one side of the main frame 21. The boom is connected to the lifting frame 22 and rises and falls with the lifting frame 22. The cleaning mechanism 4 can be a brush roller assembly or a dust collection assembly; this invention does not impose specific limitations. The walking mechanism 1 can be a tracked walking mechanism or a wheeled walking mechanism; this invention does not impose specific limitations.

[0031] Optionally, the lifting drive mechanism 23 includes a power unit 231 and a counterweight assembly 232. The counterweight assembly 232 includes a counterweight base 2321 and a counterweight component 2322. The counterweight component 2322 is disposed on the counterweight base 2321, which is vertically mounted on the main frame 21. The power unit 231 is driven by the counterweight base 2321 to drive the counterweight base 2321 to move up and down. The counterweight base 2321 is driven by the lifting frame 22 so that the lifting frame 22 descends synchronously when the counterweight base 2321 rises and rises synchronously when the counterweight base 2321 descends. In this embodiment, the counterweight base 2321 and the counterweight component 2322 are used to balance the lifting frame 22, the lifting mechanism 3, and the cleaning mechanism 4, which reduces the load on the power unit 231 and facilitates the power unit 231 in driving the lifting frame 22 to rise and fall.

[0032] Optionally, such as Figure 3As shown, both the first side 211 and the second side 212 of the main frame 21 are provided with first sprockets 24. The first sprocket 24 located on the first side 211 is positioned above the lifting frame 22, and the first sprocket 24 located on the second side 212 is positioned above the counterweight 2321. A first chain 25 is provided between the counterweight 2321 and the lifting frame 22, with both ends of the first chain 25 fixedly connected to the counterweight 2321 and the lifting frame 22 respectively. The first chain 25 meshes with the two first sprockets 24. In some optional embodiments, the power unit 231 can drive the first sprockets 24 to rotate, thereby achieving synchronous descent of the lifting frame 22 when the counterweight 2321 rises and synchronous ascent of the lifting frame 22 when the counterweight 2321 falls.

[0033] Preferably, the power unit 231 is located at the bottom of the main frame 21, and is positioned below the counterweight 2321. By positioning the power unit 231 at the bottom of the main frame 21 and below the counterweight 2321, the center of gravity of the lifting drive mechanism 23 is lowered, improving the stability of the side-arm photovoltaic cleaning robot. In some optional embodiments, the power unit 231 can be an electric push rod, with its cylinder fixed to the main frame 21. The telescopic end of the electric push rod extends and retracts in the vertical direction, and is connected to the counterweight 2321. This allows the power unit 231 to drive the counterweight 2321 to move up and down.

[0034] Specifically, both the first side 211 and the second side 212 of the main frame 21 are provided with second sprockets 26. The second sprocket 26 located on the first side 211 is located below the lifting frame 22, and the second sprocket 26 located on the second side 212 is located below the counterweight seat 2321. A second chain 27 is provided between the counterweight seat 2321 and the lifting frame 22. The two ends of the second chain 27 are fixedly connected to the counterweight seat 2321 and the lifting frame 22 respectively. The second chain 27 meshes with the two second sprockets 26. The power unit 231 includes a reduction motor 2311 and a drive shaft 2312. The reduction motor 2311 is mounted on the main frame 21, and the drive shaft 2312 is rotatably mounted on the main frame 21 around its own axis. The second sprockets 26 are mounted on the drive shaft 2312. The reduction motor 2311 is connected to the drive shaft 2312 to drive the drive shaft 2312 to rotate. Thus, when the geared motor 2311 drives the drive shaft 2312 to rotate, the drive shaft 2312 drives the second sprocket 26 to rotate. The rotation of the second sprocket 26 causes the second chain 27 to drive the lifting frame 22 to rise and the counterweight assembly 232 to fall, or vice versa. This achieves the effect of the lifting frame 22 falling synchronously when the counterweight seat 2321 rises and the lifting frame 22 rising synchronously when the counterweight seat 2321 falls.

[0035] Specifically, the main frame 21 is a square frame, with a first chain 25 spanning the top of the main frame 21 and a second chain 27 spanning the bottom of the main frame 21. The counterweight seat 2321 is equipped with a sleeve 2323, and the main frame 21 is equipped with a guide rod 28 extending vertically. The sleeve 2323 is fitted onto the guide rod 28. This allows the counterweight seat 2321 to slide on the main frame 21, ensuring that the counterweight seat 2321 can slide vertically. The lifting frame 22 is equipped with a slide block 221, and the main frame 21 is equipped with a guide rail 29. The slide block 221 and the guide rail 29 are slidably engaged. This allows the lifting frame 22 to slide on the main frame 21, ensuring that the lifting frame 22 can slide vertically.

[0036] The above description is only a preferred embodiment of the present utility model and does not limit the patent scope of the present utility model. All equivalent structural transformations made under the concept of the present utility model and using the contents of the present utility model specification and drawings, or direct / indirect applications in other related technical fields, are included in the patent protection scope of the present utility model.

Claims

1. A photovoltaic cleaning robot with an adjustable height photovoltaic cleaning arm, characterized in that: This includes the traveling mechanism, frame, lifting mechanism, and cleaning mechanism; The frame includes a main frame, a lifting frame, and a lifting drive mechanism. The main frame is connected to the traveling mechanism. The main frame has a first side and a second side opposite to each other. The lifting frame is arranged to move up and down along the height direction on the first side. The lifting drive mechanism is arranged on the second side. The lifting drive mechanism is connected to the lifting frame to drive the lifting frame to move up and down. The lifting mechanism is connected to the lifting frame and rises and falls synchronously with the lifting frame. The end of the lifting mechanism extends away from the second side and is located on the side of the first side away from the second side. The cleaning mechanism is connected to the lifting mechanism and is located on the side of the first side away from the second side.

2. The photovoltaic cleaning robot with adjustable height of the photovoltaic cleaning arm according to claim 1, characterized in that: The lifting drive mechanism includes a power unit and a counterweight assembly. The counterweight assembly includes a counterweight base and a counterweight component. The counterweight component is disposed on the counterweight base. The counterweight base is mounted on the main frame and is lifted up and down along the height direction. The power unit is driven to the counterweight base to drive the counterweight base to lift up and down. The counterweight base is driven to the lifting frame so that the lifting frame lowers synchronously when the counterweight base is raised and the lifting frame rises synchronously when the counterweight base is lowered.

3. A photovoltaic cleaning robot with an adjustable height photovoltaic cleaning arm according to claim 2, characterized in that: Both the first side and the second side of the main frame are provided with first sprockets. The first sprocket on the first side is located above the lifting frame, and the first sprocket on the second side is located above the counterweight seat. A first chain is provided between the counterweight and the lifting frame. The two ends of the first chain are fixedly connected to the counterweight and the lifting frame respectively. The first chain meshes with two first sprockets.

4. A photovoltaic cleaning robot with an adjustable height of its photovoltaic cleaning arm according to claim 3, characterized in that: The power unit is located at the bottom of the main frame and is positioned below the counterweight.

5. A photovoltaic cleaning robot with an adjustable height photovoltaic cleaning arm according to claim 4, characterized in that: The first side and the second side of the main frame are each provided with a second sprocket. The second sprocket on the first side is located below the lifting frame, and the second sprocket on the second side is located below the counterweight seat. A second chain is provided between the counterweight seat and the lifting frame. The two ends of the second chain are fixedly connected to the counterweight seat and the lifting frame respectively. The second chain meshes with two second sprockets. The power unit includes a geared motor and a drive shaft. The geared motor is mounted on the main frame, and the drive shaft is rotatably mounted on the main frame around its own axis. The second sprocket is mounted on the drive shaft, and the geared motor is connected to the drive shaft to drive the drive shaft to rotate.

6. A photovoltaic cleaning robot with an adjustable height of its photovoltaic cleaning arm according to claim 5, characterized in that: The main frame is a square frame, with the first chain spanning the top of the main frame and the second chain spanning the bottom of the main frame.

7. A photovoltaic cleaning robot with an adjustable height photovoltaic cleaning arm according to claim 2, characterized in that: The counterweight base is provided with a sleeve, the main frame is provided with a guide rod, the guide rod extends in the vertical direction, and the sleeve is fitted onto the guide rod.

8. A photovoltaic cleaning robot with an adjustable height of its photovoltaic cleaning arm according to claim 1, characterized in that: The lifting frame is equipped with a sliding block, and the main frame is equipped with a guide rail. The sliding block and the guide rail are slidably engaged.

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