Walking stabilizing mechanism of photovoltaic cleaning robot

Abstract

The utility model belongs to photovoltaic cleaning robot technical field especially photovoltaic cleaning robot's walking stable mechanism, including robot body and the crawler belt of installation on robot body, the upper surface of robot body is provided with adjusting part, adjusting part includes counterweight, the movement of counterweight adjusts the gravity center of robot body, through setting adsorption part, the surface of photovoltaic board is adsorbed, and the lower end of crawler belt and sucking disc is all set up with screw hole, so that both through bolt fixed mounting, thereby the accurate installation and disassembly of sucking disc are convenient, and the number of sucking disc can be counterweighted according to actual demand, and through adjusting the number of sucking disc, can optimize adsorption force distribution, ensure that robot body is stably attached, thereby enhance the anti -skid and anti -overturning ability.

Description

Technical Field

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

[0002] A photovoltaic cleaning robot is an intelligent device used for cleaning photovoltaic panels. It aims to solve the problem of reduced power generation efficiency caused by the accumulation of dust and dirt in photovoltaic panels during long-term use. With the rapid development of the photovoltaic industry and the continuous expansion of the scale of photovoltaic power plants, manual cleaning methods can no longer meet the needs of high efficiency and low cost. Therefore, intelligent cleaning robots have gradually become the mainstream solution in the industry. In order to maintain stable walking, tracked walking mechanisms have gradually become the first choice for photovoltaic cleaning robots due to their excellent adaptability and stability.

[0003] In existing technologies, photovoltaic panels typically have a certain tilt angle. Especially in rainy or snowy weather, the slippery surface increases the difficulty of robot movement. The robot cannot automatically adjust its center of gravity according to changes in slope or load, making it prone to tipping over or slipping during movement. Furthermore, in wet or rainy / snowy weather, the coefficient of friction on the photovoltaic panel surface decreases, and relying solely on traditional track structures is insufficient to provide adequate grip, easily leading to slippage. Therefore, a walking stabilization mechanism for photovoltaic cleaning robots is proposed to address the aforementioned problems. Utility Model Content

[0004] In order to address the technical problems in existing technologies, such as increased difficulty for robots to walk on slippery surfaces in rainy or snowy weather, the inability of robots to automatically adjust their center of gravity according to changes in slope or load, the tendency for them to tip over or slip during movement, and the difficulty in providing sufficient grip with traditional track structures, which easily leads to slippage, this application provides a walking stabilization mechanism for photovoltaic cleaning robots.

[0005] The walking stabilization mechanism of the photovoltaic cleaning robot proposed in this utility model includes a robot body and tracks installed on the robot body. An adjustment component is provided on the upper surface of the robot body. The adjustment component includes a counterweight. The movement of the counterweight adjusts the center of gravity of the robot body.

[0006] The lower surface of the robot body is provided with an adsorption component, which includes a suction cup. The suction cup adsorbs the surface of the photovoltaic panel by means of negative pressure adsorption.

[0007] Preferably, the adjustment component further includes a mounting bracket, which is fixedly mounted on the upper surface of the robot body, and a support frame is fixedly mounted on the inner bottom wall of the mounting bracket.

[0008] Preferably, a motor is fixedly installed inside the mounting frame, and the output shaft of the motor is rotatably connected to a groove at one end of the support frame via a bearing.

[0009] Preferably, the output shaft of the motor is fixedly mounted with a screw, and the screw is rotatably connected to one end side wall of the support frame via a bearing.

[0010] Preferably, the outer surface of the screw is threaded with a slider, the slider is rotatably connected to the inner wall of the guide rail of the support frame via rollers, and the counterweight is fixedly installed on the upper surface of the slider.

[0011] Preferably, the adsorption component further includes threaded holes, and a plurality of threaded holes are respectively formed on the outer surface of the track and the surface of the lower end connecting plate of the suction cup. The connecting plate of the suction cup is threadedly connected to the inner wall of the threaded holes by bolts.

[0012] The beneficial effects of this utility model are as follows: 1. By setting adjustment components, the center of gravity of the robot body is adjusted. The mounting frame and support frame are fixedly installed and secured. The mounting frame and motor are also fixedly installed and secured. The motor drives the screw to rotate, and the screw is threadedly connected to the slider to drive its rotation and movement. However, due to the rolling connection between the slider and the guide rail of the support frame, it is limited and can only move. By fixing the counterweight to the slider, it drives it to move synchronously, adjusting the robot's center of gravity in real time to prevent tipping. It is especially suitable for large tilt angle operation scenarios. It solves the technical problem in the existing technology that the surface of photovoltaic panels usually has a certain tilt angle, especially in rainy or snowy weather, the surface is slippery, which increases the difficulty of robot walking. The robot cannot automatically adjust the center of gravity position according to the slope or load changes, and is prone to tipping or slipping during movement.

[0013] 2. By setting up adsorption components, the surface of the photovoltaic panel is adsorbed. Both the track and the suction cup have threaded holes at the bottom for bolt fixing, which facilitates the precise installation and removal of the suction cup. The number of suction cups can be adjusted according to actual needs. By adjusting the number of suction cups, the adsorption force distribution can be optimized to ensure stable adhesion of the robot body, thereby enhancing anti-slip and anti-tipping capabilities. This solves the technical problem in existing technologies where the friction coefficient of the photovoltaic panel surface decreases in wet or rainy / snowy weather, and the traditional track structure alone cannot provide sufficient grip, leading to slippage. Attached Figure Description

[0014] Figure 1 This is a schematic diagram of the walking stabilization mechanism of the photovoltaic cleaning robot proposed in this utility model; Figure 2 This is a perspective view of the mounting frame structure of the walking stabilization mechanism of the photovoltaic cleaning robot proposed in this utility model; Figure 3 This is a perspective view of the motor structure of the walking stabilization mechanism of the photovoltaic cleaning robot proposed in this utility model; Figure 4 This is a perspective view of the counterweight structure of the walking stabilization mechanism of the photovoltaic cleaning robot proposed in this utility model. Figure 5 This is a perspective view of the suction cup structure of the walking stabilization mechanism of the photovoltaic cleaning robot proposed in this utility model.

[0015] In the diagram: 1. Robot body; 11. Track; 2. Mounting frame; 21. Support frame; 3. Motor; 4. Screw; 5. Slider; 51. Counterweight; 6. Threaded hole; 61. Suction cup. Detailed Implementation

[0016] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present utility model. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments.

[0017] Reference Figures 1-5 The walking stabilization mechanism of the photovoltaic cleaning robot includes a robot body 1 and a track 11 installed on the robot body 1. An adjustment component is provided on the upper surface of the robot body 1. The adjustment component includes a counterweight 51. The movement of the counterweight 51 adjusts the center of gravity of the robot body 1.

[0018] To reduce the overall weight of the robot body 1, the adjustment components also include a mounting bracket 2. The mounting bracket 2 is fixedly installed on the upper surface of the robot body 1, and a support frame 21 is fixedly installed on the inner bottom wall of the mounting bracket 2. The mounting bracket 2 is fixedly installed to the robot body 1 and to it, and the mounting bracket 2 is fixedly installed to the support frame 21 and to it. Both the mounting bracket 2 and the support frame 21 can be made of aluminum alloy, which has the advantages of low density, high strength and corrosion resistance, which helps to reduce the overall weight of the robot body 1.

[0019] To ensure the stability of the output shaft rotation of motor 3, motor 3 is fixedly installed inside the mounting bracket 2. The output shaft of motor 3 is rotatably connected to the groove at one end of the support frame 21 through a bearing. The motor 3 is fixedly installed and secured by the mounting bracket 2. The output shaft of motor 3 is rotatably connected to the support frame 21 through a bearing to ensure the stability of the output shaft rotation of motor 3. The model of motor 3 can be Panasonic MINAS A6 series servo motor 3. It needs to be equipped with a motor 3 driver and controller to achieve precise control.

[0020] To drive the screw 4 to rotate, the output shaft of the motor 3 is fixedly mounted with the screw 4. The screw 4 is rotatably connected to one end side wall of the support frame 21 through a bearing. The output shaft of the motor 3 is fixedly mounted with the screw 4 to drive the screw 4 to rotate. The screw 4 is rotatably connected to the support frame 21 through the bearing to ensure the stability of the screw 4's rotation. The screw 4 can be made of alloy steel, which has high strength and wear resistance and can withstand the mechanical stress brought about by long-term rotational operation.

[0021] To achieve more flexible center of gravity distribution and dynamic balance, a slider 5 is threadedly connected to the outer surface of the screw 4. The slider 5 is rolled onto the inner wall of the guide rail of the support frame 21 via rollers. A counterweight 51 is fixedly installed on the upper surface of the slider 5. The screw 4 drives the slider 5 to rotate and move through the threaded connection with the slider 5. However, because the slider 5 is rolled onto the guide rail of the support frame 21, it is limited and can only move. The counterweight 51 is fixedly installed on the slider 5, driving it to move synchronously. The movement of the counterweight 51 can adjust the robot's center of gravity in real time to prevent tipping, which is especially suitable for large tilt angle operation scenarios. The slider 5 can be made of wear-resistant engineering plastic, such as polyoxymethylene, and the counterweight 51 can be made of lead alloy to improve the counterweight effect and reduce the volume. The mounting frame 2 is equipped with two support frames 21 and two... Motors 3 are located on both sides of the mounting frame 2, consistent with the distribution of the two side tracks 11. One motor 3 of the support frame 21 is located on the left side, and the other motor 3 of the support frame 21 is located on the right side. The two motors 3 drive the connected screws 4 to rotate, so that the counterweight 51 moves on the two side guide rails respectively, achieving more flexible center of gravity distribution and dynamic balance. The center position of the robot body 1 needs to be equipped with a tilt sensor, and the recommended MPU6050 six-axis gyroscope accelerometer can be used to monitor the tilt angle of the robot body 1 in real time and feed back to the control system to adjust the position of the counterweight 51. Displacement sensors can be installed on both sides of the guide rail as needed to monitor the movement distance of the counterweight 51 and avoid overtravel. The fixing of the adjustment components can be done with bolts or flanges as needed to facilitate future maintenance and replacement.

[0022] By setting adjustment components, the center of gravity of the robot body 1 is adjusted. The mounting frame 2 is fixedly installed on the support frame 21 and fixed to it. The mounting frame 2 is fixedly installed on the motor 3 and fixed to it. The motor 3 drives the screw 4 to rotate. The screw 4 is threadedly connected to the slider 5 to drive its rotation and movement. However, since the slider 5 is rolled on the guide rail of the support frame 21, it is limited and can only move. The counterweight 51 is fixedly installed on the slider 5 to drive it to move synchronously. The robot's center of gravity is adjusted in real time to prevent tipping. It is especially suitable for large tilt angle operation scenarios. It solves the technical problem in the existing technology that the surface of photovoltaic panels usually has a certain tilt angle. Especially in rainy or snowy weather, the surface is slippery, which increases the difficulty of robot walking. The robot cannot automatically adjust the center of gravity position according to the slope or load change, and is prone to tipping or slipping during the movement.

[0023] In order to adsorb onto the surface of the photovoltaic panel, the lower surface of the robot body 1 is provided with an adsorption component, including a suction cup 61, which adsorbs onto the surface of the photovoltaic panel by means of negative pressure adsorption.

[0024] To enhance anti-slip and anti-tipping capabilities, the adsorption component also includes threaded holes 6. Multiple threaded holes 6 are respectively opened on the outer surface of the track 11 and the surface of the lower connecting plate of the suction cup 61. The connecting plate of the suction cup 61 is threadedly connected to the inner wall of the threaded holes 6 by bolts. Threaded holes 6 are opened at the lower ends of both the track 11 and the suction cup 61 so that they can be fixedly installed by bolts. The track 11 is usually made of rubber, so metal inserts, such as stainless steel sleeves, need to be embedded inside the track 11, and then threaded holes 6 are machined on the inserts to avoid insufficient strength caused by directly drilling holes in the rubber. This facilitates the precise installation and removal of the suction cup 61. The number of suction cups 61 can be adjusted according to actual needs. By adjusting the number of suction cups 61, the adsorption force distribution can be optimized to ensure stable attachment of the robot body 1, thereby enhancing anti-slip and anti-tipping capabilities. The suction cup 61 can be made of nitrile rubber, which has good mechanical strength and wear resistance and is suitable for outdoor environments, resisting the effects of ultraviolet rays, ozone, and climate change.

[0025] By setting up an adsorption component, the surface of the photovoltaic panel is adsorbed. Both the track 11 and the suction cup 61 have threaded holes 6 at their lower ends so that they can be fixed and installed by bolts. This facilitates the precise installation and removal of the suction cup 61. The number of suction cups 61 can be adjusted according to actual needs. By adjusting the number of suction cups 61, the distribution of adsorption force can be optimized to ensure stable attachment of the robot body 1, thereby enhancing anti-slip and anti-tipping capabilities. This solves the technical problem in the prior art that in wet or rainy / snowy weather, the surface friction coefficient of the photovoltaic panel decreases, and the traditional track 11 structure alone cannot provide sufficient grip, making it easy for slippage to occur.

[0026] Working principle: When cleaning photovoltaic panels in rainy or snowy weather, the staff places the robot body 1 on the surface of the photovoltaic panel, the control system is powered on and initialized, the tilt sensor detects the current tilt angle in real time, and the suction cup 61 on the track 11 is deformed under its own weight, forming a preliminary negative pressure adsorption, ensuring that the robot is firmly attached to the surface of the photovoltaic panel. The robot body 1 moves along the surface of the photovoltaic panel. The cleaning device, such as a rotating brush or elastic scraper, is activated to remove dust, snow or water from the surface. The control system continuously monitors the tilt angle change through the tilt sensor. If the angle exceeds the safety threshold, such as 15°, the center of gravity adjustment mechanism is immediately activated. If the center of gravity is biased towards the front, i.e. the cleaning device side, the control system drives the servo motor 3 in the mounting frame 2 to rotate, which in turn drives the screw 4 on the support frame 21 to rotate. This causes the counterweight 51 to move backward through the slider 5. If the center of gravity is biased towards the rear, the drive motor 3 rotates in the opposite direction, causing the counterweight 51 to move forward. By controlling the counterweights 51 on the left and right sides respectively through two independent motors 3, the center of gravity can be precisely adjusted and the anti-overturning torque optimized, avoiding slippage or overturning caused by unilateral load. The displacement sensor monitors the position of the counterweight 51 in real time to prevent overtravel or mechanical collision. When the surface of the photovoltaic panel is too slippery or the tilt angle is too large, such as >20°, the control system can automatically increase the number of suction cups 61. The suction cups 61 are fixed to the metal inserts of the track 11 by bolts, which facilitates quick replacement or adjustment of the number on site to adapt to different working conditions. After the robot body 1 reaches the destination, it turns off the cleaning device and stops walking. The control system drives the robot body 1 back to the starting position or standby area according to the preset path or navigation instructions. The counterweight 51 returns to the initial position, and the system enters the low power standby mode. The robot body 1 uses a high-energy-density lithium battery, such as a lithium iron battery or a ternary lithium battery, with a voltage of 24V or 48V, to ensure that the robot can work for a long time. It can also integrate a small photovoltaic panel to provide auxiliary charging for the battery pack and extend the battery life. It uses a PLC or embedded controller to handle sensor data processing and motor 3 control, and can be equipped with Wi-Fi or 5G modules to realize remote monitoring and operation. Dust sensors can be set as needed to monitor the degree of dust accumulation on the surface of photovoltaic panels and automatically adjust the cleaning intensity; obstacle avoidance sensors, such as ultrasonic or infrared sensors, prevent the robot from colliding with obstacles; GPS module is used for robot positioning and path planning in large photovoltaic power plants; temperature sensor monitors the temperature of motor 3 and battery to prevent overheating; humidity sensor detects the humidity on the surface of photovoltaic panels to avoid operation in wet and slippery conditions. Regularly apply grease, such as lithium-based grease, to the screw 4 and slider 5 to reduce friction and extend service life. Check the guide rail surface monthly to ensure there are no foreign objects. Add lubricating oil if necessary. Check the bearing lubrication status every six months and add special bearing grease. Regularly check the wear of rubber track 11 and suction cup 61, replace aging parts in time, check the heat dissipation of motor 3 terminals and controller every year to ensure that there is no looseness or overheating, calibrate the tilt sensor and displacement sensor every six months to ensure measurement accuracy, and regularly check the battery voltage and capacity to avoid overcharging or over-discharging and extend battery life. The electronic devices, their power supply methods, and control methods described in this article are all existing technologies with mature applications. Therefore, they will only be briefly explained here without further elaboration.

[0027] The above description is only a preferred embodiment of the present utility model, but the protection scope of the present utility model is not limited thereto. Any equivalent substitutions or changes made by those skilled in the art within the technical scope disclosed in the present utility model, based on the technical solution and the inventive concept of the present utility model, should be included within the protection scope of the present utility model.

Claims

1. A walking stabilization mechanism for a photovoltaic cleaning robot, comprising a robot body (1) and tracks (11) mounted on the robot body (1), characterized in that: The upper surface of the robot body (1) is provided with an adjustment component, which includes a counterweight (51). The movement of the counterweight (51) adjusts the center of gravity of the robot body (1). The lower surface of the robot body (1) is provided with an adsorption component, which includes a suction cup (61). The suction cup (61) adsorbs the surface of the photovoltaic panel by negative pressure adsorption.

2. The walking stabilization mechanism of the photovoltaic cleaning robot according to claim 1, characterized in that: The adjustment component also includes a mounting bracket (2), which is fixedly mounted on the upper surface of the robot body (1), and a support bracket (21) is fixedly mounted on the inner bottom wall of the mounting bracket (2).

3. The walking stabilization mechanism of the photovoltaic cleaning robot according to claim 2, characterized in that: The motor (3) is fixedly installed inside the mounting bracket (2), and the output shaft of the motor (3) is rotatably connected to the groove at one end of the support frame (21) through a bearing.

4. The walking stabilization mechanism of the photovoltaic cleaning robot according to claim 3, characterized in that: The output shaft of the motor (3) is fixedly mounted with a screw (4), which is rotatably connected to one end side wall of the support frame (21) via a bearing.

5. The walking stabilization mechanism of the photovoltaic cleaning robot according to claim 4, characterized in that: The outer surface of the screw (4) is threaded with a slider (5), which is connected to the inner wall of the guide rail of the support frame (21) by a roller. The counterweight (51) is fixedly installed on the upper surface of the slider (5).

6. The walking stabilizing mechanism of the photovoltaic cleaning robot according to claim 5, characterized in that: The adsorption component also includes threaded holes (6), and multiple threaded holes (6) are respectively opened on the outer surface of the track (11) and the lower end connecting plate surface of the suction cup (61). The connecting plate of the suction cup (61) is threadedly connected to the inner wall of the threaded holes (6) by bolts.

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