CN108722929A - A kind of photovoltaic clean robot running gear and method - Google Patents
A kind of photovoltaic clean robot running gear and method Download PDFInfo
- Publication number
- CN108722929A CN108722929A CN201810778090.5A CN201810778090A CN108722929A CN 108722929 A CN108722929 A CN 108722929A CN 201810778090 A CN201810778090 A CN 201810778090A CN 108722929 A CN108722929 A CN 108722929A
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- gear
- group
- walking mechanism
- walking
- main body
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- 238000000034 method Methods 0.000 title claims abstract description 13
- 230000009184 walking Effects 0.000 claims abstract description 106
- 230000007246 mechanism Effects 0.000 claims abstract description 77
- 230000008859 change Effects 0.000 claims abstract description 74
- 238000004140 cleaning Methods 0.000 claims abstract description 37
- 230000005540 biological transmission Effects 0.000 claims description 18
- 238000007667 floating Methods 0.000 claims description 14
- 238000009434 installation Methods 0.000 abstract description 3
- 230000008878 coupling Effects 0.000 description 2
- 238000010168 coupling process Methods 0.000 description 2
- 238000005859 coupling reaction Methods 0.000 description 2
- 230000005611 electricity Effects 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 238000000926 separation method Methods 0.000 description 2
- 238000010408 sweeping Methods 0.000 description 2
- 230000002159 abnormal effect Effects 0.000 description 1
- 230000003139 buffering effect Effects 0.000 description 1
- 239000000428 dust Substances 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000007613 environmental effect Effects 0.000 description 1
- 210000003608 fece Anatomy 0.000 description 1
- 230000002441 reversible effect Effects 0.000 description 1
- 239000007787 solid Substances 0.000 description 1
- 230000003068 static effect Effects 0.000 description 1
- 230000001360 synchronised effect Effects 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B08—CLEANING
- B08B—CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
- B08B1/00—Cleaning by methods involving the use of tools
- B08B1/10—Cleaning by methods involving the use of tools characterised by the type of cleaning tool
- B08B1/12—Brushes
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B08—CLEANING
- B08B—CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
- B08B1/00—Cleaning by methods involving the use of tools
- B08B1/30—Cleaning by methods involving the use of tools by movement of cleaning members over a surface
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B08—CLEANING
- B08B—CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
- B08B1/00—Cleaning by methods involving the use of tools
- B08B1/30—Cleaning by methods involving the use of tools by movement of cleaning members over a surface
- B08B1/32—Cleaning by methods involving the use of tools by movement of cleaning members over a surface using rotary cleaning members
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B08—CLEANING
- B08B—CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
- B08B13/00—Accessories or details of general applicability for machines or apparatus for cleaning
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
- B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
- B62D57/024—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members specially adapted for moving on inclined or vertical surfaces
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02S—GENERATION OF ELECTRIC POWER BY CONVERSION OF INFRARED RADIATION, VISIBLE LIGHT OR ULTRAVIOLET LIGHT, e.g. USING PHOTOVOLTAIC [PV] MODULES
- H02S40/00—Components or accessories in combination with PV modules, not provided for in groups H02S10/00 - H02S30/00
- H02S40/10—Cleaning arrangements
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
- Y02E10/00—Energy generation through renewable energy sources
- Y02E10/50—Photovoltaic [PV] energy
Landscapes
- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Cleaning In General (AREA)
- Manipulator (AREA)
Abstract
A kind of photovoltaic clean robot running gear and method, main body walking is cleaned for driving, it includes first walking mechanism, the second walking mechanism and third walking mechanism, the first walking mechanism and the second walking mechanism, which are located at, cleans main body both ends, the third walking mechanism, which is located at, to be cleaned in the middle part of main body, the first walking mechanism is equipped with traveling wheel group, the first walking mechanism is additionally provided with active gear changing group, active gear changing group is equipped with two change gears and unidirectional change gear driving group, which is connected with two change gears to drive the rotation of a wherein change gear.The present invention can improve the moving obstacle-crossing ability for cleaning body side, reduce in-site installation adjustment requirement, and walking smoothes out, is reliable.
Description
Technical field
The present invention relates to photovoltaic clean robot field, especially a kind of photovoltaic clean robot running gear and method.
Background technology
Currently, with the high speed development of photovoltaic generation industry, photovoltaic generation industry is excellent with its environmental protection, energy quality height etc.
Point, it has also become a kind of new trend of domestic and international power industry, but since the photovoltaic panel used in photovoltaic generation is typically mounted on room
Outside, outdoor airborne dust, haze, rainwater, birds droppings etc. can all pollute and cover to photovoltaic plate face, to strong influence light
The transfer efficiency of component is lied prostrate, therefore, it is necessary to periodically be cleaned to the photovoltaic plate face of photovoltaic module.
Existing photovoltaic clean robot includes mainly cleaning main body, first walking mechanism, the second walking mechanism, the
Three walking mechanisms etc., the cleaning main body is mainly including braced frame, cleaning roller brush and for driving the hairbrush of cleaning roller brush to drive
Motor etc..Its third walking mechanism, which is located at, to be cleaned in the middle part of main body, and first walking mechanism and the second walking mechanism are respectively arranged at clearly
Main body both ends are swept, and are respectively equipped with traveling wheel and change gear, traveling wheel is walked by motor drives edge photovoltaic plate surface, along photovoltaic panel side
The change gear of face walking without driving, cause when install photovoltaic panel upper surface mismatch it is larger when, sweeping robot can not be normal through.
When change gear drives also by motor, since traveling wheel and change gear load are different, cause motor output speeds that can also deposit
It is inconsistent to will appear upper and lower side in difference, when clean robot being caused to be walked, that is, generates deflection.
In addition, when photovoltaic panel is installed, there are plane drop, existing clean robots to pass through three groups of walkings for same row photovoltaic panel
The fixed support walking of wheel can cause to have the hanging situation appearance of one group of traveling wheel in this way, and existing clean robot can not be protected
Card change gear is not deviate from along the walking of photovoltaic panel upper surface.
Invention content
It is a primary object of the present invention to overcome drawbacks described above in the prior art, proposition is a kind of to improve ride comfort of walking
A kind of photovoltaic clean robot running gear.
The present invention adopts the following technical scheme that：
A kind of photovoltaic clean robot running gear cleans main body walking comprising first walking mechanism, for driving
Two walking mechanisms and third walking mechanism, the first walking mechanism and the second walking mechanism, which are located at, cleans main body both ends, should
Third walking mechanism, which is located at, to be cleaned in the middle part of main body, which is equipped with traveling wheel group, is characterized in that：First vehicle with walking machine
Structure is additionally provided with active gear changing group, and active gear changing group is equipped with two change gears and unidirectional change gear driving group, the unidirectional change gear driving group and two
Change gear is connected to drive the rotation of a wherein change gear.
Preferably, the unidirectional change gear driving group includes motor, gear unit and one-way clutch, the gear unit and electricity
Machine output shaft is connected and is equipped with shaft, which is installed between change gear and the shaft to realize single-direction transmission.
Preferably, the gear unit is that turbine and worm gear unit or gear set gear unit or chain transmission are single
Member.
Preferably, the third walking mechanism includes driven wheels and floating support group, the floating support group be connected to from
To realize floating support between driving wheel group and the cleaning main body.
Preferably, the floating support group includes swing arm and elastic component, the connection of the swing arm one end and the driven wheels
Axis is fixedly connected, and the other end is rotatably connected with the cleaning main body, and the elastic component peaks between swing arm and cleaning main body.
Preferably, the floating support group further includes limiting buffer part, which is fixed on the cleaning main body
Above and right over the swing arm.
Preferably, the first walking mechanism further includes anticreep wheel, and the anticreep wheel shaft is parallel with the traveling wheel shaft,
And on the outside of the active gear changing group.
Preferably, second walking mechanism includes traveling wheel group and driven gear changing group, the shaft of the traveling wheel group with from
The shaft of driving wheel group is vertical.
Preferably, the traveling wheel group includes traveling wheel, gear unit and main motor, which is connected to traveling wheel
Between main motor output shaft.
A kind of photovoltaic clean robot traveling method, it is characterised in that：In first walking mechanism, setting active change gear is set
Group uses unidirectional change gear driving group to connect two change gears to drive a wherein change gear to rotate；First walking mechanism and the second walking
When the traveling wheel group of mechanism, the startup of active gear changing group drive cleaning main body to walk to the right or to the left, unidirectional change gear driving group driving
The change gear of left or right side rotates, and right side or the idle running of left side change gear deflect, then left or right side to the left or to the right when cleaning host
Change gear, which is detached from, cleans host respective side, and right side or left side change gear maintain idle running, so that it is guaranteed that cleaning host walking smooth-going.
By the above-mentioned description of this invention it is found that compared with prior art, the present invention has the advantages that：
1, system and method for the invention, are matched by first walking mechanism, the second walking mechanism and third walking mechanism
It closes driving and cleans main body walking, and first walking mechanism uses active gear changing group, improves the moving obstacle-crossing energy for cleaning body side
Power reduces in-site installation adjustment requirement, walking smooth-going.
2, one-way clutch is arranged in system and method for the invention between change gear and shaft, realizes single-direction transmission,
When walking, it is ensured that change gear and traveling wheel rate uniformity so that cleaning main body walking is more steady,
3, system and method for the invention realize fixed support by first walking mechanism and the second walking mechanism, the
Three walking mechanisms are arranged to floating support, and in walking process, the swing arm of driven human relations can do certain angle around mandrel and swing to real
Existing floating support improves walking adaptability, and can be preferably bonded photovoltaic panel walking.
4, system and method for the invention, are provided with anticreep wheel in first walking mechanism, can prevent from cleaning main body from
It is disengaged in photovoltaic panel.
Description of the drawings
Fig. 1 is photovoltaic sweeping robot working state figure of the present invention；
Fig. 2 is the side view of Fig. 1；
Fig. 3 is to clean bottom part body structure chart；
Fig. 4 is the partial enlarged view of Fig. 2；
Fig. 5 is first walking mechanism stereogram；
Fig. 6 is the side view of Fig. 5；
Fig. 7 is the A-A sectional views of Fig. 6；
Fig. 8 is third walking structural scheme of mechanism；
Fig. 9 is the partial enlarged view of Fig. 3；
Wherein：10, main body is cleaned, 11, edge strip brush, 12, cleaning roller brush, 20a, first walking mechanism, 20b, the second walking
Mechanism, 21, first shell, 22, traveling wheel, 23, main motor, 24, gear unit, 24a, driving gear, 24b, transmission gear,
24c, chain, 25, change gear, 26, motor, 27, one-way clutch, 28, anticreep wheel, 29, second shell, 30, third walking mechanism,
31, driven wheel, 32, connecting shaft, 33, swing arm, 34, elastic component, 35, limiting buffer part, 36, mandrel, 40, photovoltaic panel.
Specific implementation mode
Below by way of specific implementation mode, the invention will be further described.
Referring to figs. 1 to Fig. 9, a kind of photovoltaic clean robot running gear cleans the walking of main body 10 for driving comprising
First walking mechanism 20a, the second walking mechanism 20b and third walking mechanism 30 etc..The walkings of first walking mechanism 20a and second
Mechanism 20b, which is located at, cleans 10 both ends of main body, which, which is located at, cleans 10 middle part of main body.The cleaning main body 10
Include mainly braced frame, cleaning roller brush 12 and the hairbrush driving motor etc. for driving cleaning roller brush 12, in braced frame two
Side is additionally provided with edge strip brush 11, can cover the cleaning blind area of cleaning roller brush 12.
First walking mechanism 20a is equipped with first shell 21, traveling wheel group and active gear changing group, which fixes
It is installed on the end for cleaning main body 10.The traveling wheel group includes two traveling wheels 22, gear unit 24 and main motor 23.Two walking
Wheel 22 is installed on insides outside first shell 21, which is chain gear unit, including driving gear 24a,
Two transmission gear 24b and chain 24c etc., driving gear 24a is connected with the output shaft of main motor 23, two transmission gear 24b
It is connected respectively with the shaft of traveling wheel 22, chain 24c is set around between driving gear 24a and two transmission gear 24b.The transmission
Unit 24 can also use other to be realized similar to drive mechanism, such as the flexibility such as turbine and worm transmission, gear set transmission, synchronous belt
Part transmission etc..
The active gear changing group is equipped with two change gears 25 and unidirectional change gear driving group, which is installed on 21 bottom of first shell
Portion, and it is vertical with traveling wheel 22.Unidirectional change gear driving group includes motor 26, gear unit and one-way clutch 27, the transmission list
Member is driven using turbine and worm, and turbine is connected with the output shaft of motor 26, and worm screw one end is engaged with turbine, and the other end is equipped with
Both shaft, the one-way clutch 27 are installed between change gear 25 and the shaft of the worm screw, which is located at connection
Plain bearing is installed in the outside at place, inside.The gear unit kind of drive is not unique, and gear set gear unit or tooth also can be used
Take turns chain gear unit.
The one-way clutch 27 is unilateral bearing, and for Internal and external cycle there are keyway, the shaft of worm screw can transmit torque to inner ring,
Torque is transmitted to change gear 25 in outer ring again, and Internal and external cycle can only be according to a direction relative motion, when inner ring counter motion, Internal and external cycle point
From outer ring is static to dally.Two change gears 25 of the present invention are separately equipped with a unidirectional change gear driving group, and when installation, two are hung
27 direction of rotation of one-way clutch on wheel 25 is opposite.It also can two change gears 25 of a unidirectional change gear driving group driving.In addition, main
Motor 23, two gear units, motor 26 etc. are mounted in first shell 21.
In addition, being additionally provided with anticreep wheel 28 on first walking mechanism 20a, which is installed on 21 shell of first shell
Body bottom, and below 25 outside (bottom) of change gear.The shaft of the anticreep wheel 28 is parallel with 22 shaft of traveling wheel.When complete machine row
When walking to reverse, the change gear 25 of first walking mechanism 20a can be biased to vertical photovoltaic panel 40 vertically upward, due to anticreep
Gap is little between wheel 28 and 40 respective side of photovoltaic panel, and change gear 25 slightly deflects, then anticreep wheel 28 is contacted with photovoltaic panel 40 immediately,
Change gear 25 is prevented further to deflect, to prevent complete machine walking abnormal.
Second walking mechanism 20b includes second shell 29, traveling wheel group and driven gear changing group etc., and the second shell 29 is solid
Due to cleaning 10 other end of main body.The traveling wheel group is identical as the traveling wheel group of first walking mechanism 20a, also includes two traveling wheels
22, gear unit 24 and main motor.Two traveling wheel 22 is installed on the inside outside second shell 29, which is gear
Chain drive unit, including driving gear, two transmission gears and chain etc., which is connected with the output shaft of main motor,
Two transmission gear is connected with the shaft of traveling wheel 22 respectively, which is set around between driving gear and two transmission gears.It should
Gear unit 24 can also use other to be realized similar to drive mechanism, such as turbine and worm transmission, gear set transmission etc..
The gear changing group of second walking mechanism 20b is installed on 29 bottom of second shell, and vertical with traveling wheel 22, with first
The active gear changing group of walking mechanism 20a is different, which is not arranged driving structure, is driven structure.
Third walking mechanism 30 includes driven wheels and floating support group, which is connected to driven wheels and clear
It sweeps between main body 10.The driven wheels include two driven wheels 31, which is installed on by bearing in connecting shaft 32, the company
Spindle 32 is Hooks coupling universal coupling, and the connecting shaft 32 is also same with the traveling wheel 22 of first walking mechanism 20a and the second walking mechanism 20b
Axis connection.Can guarantee third walking mechanism driven wheel 31 and both sides traveling wheel 22 there are when deviation, also can normal walking.
The floating support group includes swing arm 33, elastic component 34 and limiting buffer part 35,33 one end of swing arm and driven wheels
Connecting shaft 32 be fixedly connected, the other end is rotatably connected with mandrel 36, which, which is fixed on, cleans main body 10 bottom, the bullet
Property part 34 open and peak at swing arm 33 and clean between main body 10 bottom so that swing arm 33 can be done around mandrel 36 certain angle swing to
It realizes floating support, is preferably bonded the walking of photovoltaic panel 40.The limiting buffer part 35, which is fixed on, to be cleaned in main body 10 and positioned at pendulum
Right over arm 33, the rotational angle for buffering and limiting swing arm 33.
System using the present invention, traveling wheel 22, the change gear 25 of first walking mechanism 20a, the second walking mechanism 20b's
Traveling wheel 22 is driven by corresponding motor 26 and gear unit respectively, is driven and is cleaned main body 10 along the walking of photovoltaic panel 40；Simultaneously
In walking process, photovoltaic panel 40 is cleaned by cleaning roller brush 12 and edge strip brush 11, walking is smoothed out and can be preferably bonded
Photovoltaic panel 40 is run, and can be prevented away de-.
In first walking mechanism 20a, since traveling wheel 22 and change gear 25 load difference, then the electricity of unidirectional change gear driving group
26 rotating speed of machine and 23 rotating speed of main motor have differences, i.e., 25 speed of change gear is slightly larger than 22 speed of traveling wheel.Based on this, the present invention is also
It is proposed a kind of photovoltaic clean robot traveling method, when the traveling wheel group of first walking mechanism 20a and the second walking mechanism 20b,
Active gear changing group starts, and when cleaning main body 10 being driven to walk to the right, two motors 26 of unidirectional change gear driving group counterclockwise drive by rotation
The change gear 25 in dynamic left side rotates, and 27 Internal and external cycle of the one-way clutch separation of right side change gear 25, right side change gear 25 dallies.At this point, left
25 speed of travel of pendant wheel is slightly larger than 22 speed of travel of traveling wheel, and cleaning 10 lower end of host has driving for lateral deviation turn of turning left, once
It cleans host 10 to deflect to the left, then left side change gear 25, which is detached from, cleans 10 respective side of host, and right side change gear 25 maintains idle running so that hangs
The speed of travel of wheel 25 restores consistent with 22 speed of traveling wheel, so that it is guaranteed that cleaning the walking smooth-going of host 10.
Conversely, the traveling wheel group as first walking mechanism 20a and the second walking mechanism 20b starts, drives and clean main body 10
When walking to the left, two motors 26 of unidirectional change gear driving group rotate clockwise the rotation of change gear 25 on driving right side, left side change gear 25
27 Internal and external cycle of one-way clutch separation, left side change gear 25 dally.At this point, change gear 25 speed of travel in right side is slightly larger than traveling wheel 22
The speed of travel, cleaning 10 lower end of host has driving for deflection of turning right, and is deflected to the right once cleaning host 10, then right side change gear 25
It is detached from and cleans 10 respective side of host, left side change gear 25 maintains idle running so that 25 speed of travel of change gear is restored with 22 speed of traveling wheel
Unanimously, so that it is guaranteed that cleaning the walking smooth-going of host 10.
The specific implementation mode of the present invention is above are only, but the design concept of the present invention is not limited thereto, it is all to utilize this
Conceive the change for carrying out unsubstantiality to the present invention, the behavior for invading the scope of the present invention should all be belonged to.
Claims (10)
1. a kind of photovoltaic clean robot running gear cleans main body walking comprising first walking mechanism, second for driving
Walking mechanism and third walking mechanism, the first walking mechanism and the second walking mechanism, which are located at, cleans main body both ends, this
Three walking mechanisms, which are located at, to be cleaned in the middle part of main body, which is equipped with traveling wheel group, is characterized in that：The first walking mechanism
It is additionally provided with active gear changing group, active gear changing group is equipped with two change gears and unidirectional change gear driving group, which hangs with two
Wheel is connected to drive the rotation of a wherein change gear.
2. a kind of photovoltaic clean robot running gear as described in claim 1, it is characterised in that：The unidirectional change gear driving
Group includes motor, gear unit and one-way clutch, which is connected with motor output shaft and is equipped with shaft, this unidirectionally from
Clutch is installed between change gear and the shaft to realize single-direction transmission.
3. a kind of photovoltaic clean robot running gear as claimed in claim 2, it is characterised in that：The gear unit is whirlpool
Worm and gear gear unit or gear set gear unit or chain gear unit.
4. a kind of photovoltaic clean robot running gear as described in claim 1, it is characterised in that：The third walking mechanism
Including driven wheels and floating support group, which is connected between driven wheels and the cleaning main body floating to realize
Dynamic support.
5. a kind of photovoltaic clean robot running gear as claimed in claim 4, it is characterised in that：The floating support group packet
Swing arm and elastic component are included, which is fixedly connected with the connecting shaft of the driven wheels, the other end and the cleaning main body
It is rotatably connected, the elastic component peaks between swing arm and cleaning main body.
6. a kind of photovoltaic clean robot running gear as claimed in claim 5, it is characterised in that：The floating support group is also
Including limiting buffer part, which is fixed in the cleaning main body and right over the swing arm.
7. a kind of photovoltaic clean robot running gear as described in claim 1, it is characterised in that：The first walking mechanism
Further include anticreep wheel, the anticreep wheel shaft is parallel with the traveling wheel shaft, and on the outside of the active gear changing group.
8. a kind of photovoltaic clean robot running gear as described in claim 1, it is characterised in that：Second walking mechanism
Including traveling wheel group and driven gear changing group, the shaft of the traveling wheel group is vertical with the shaft of driven wheels.
9. a kind of photovoltaic clean robot running gear as described in claim 1 or 8, it is characterised in that：The traveling wheel group
Including traveling wheel, gear unit and main motor, which is connected between traveling wheel and main motor output shaft.
10. a kind of photovoltaic clean robot traveling method, it is characterised in that：In first walking mechanism, setting active change gear is set
Group uses unidirectional change gear driving group to connect two change gears to drive a wherein change gear to rotate；First walking mechanism and the second walking
When the traveling wheel group of mechanism, the startup of active gear changing group drive cleaning main body to walk to the right or to the left, unidirectional change gear driving group driving
The change gear of left or right side rotates, and right side or the idle running of left side change gear deflect, then left or right side to the left or to the right when cleaning host
Change gear, which is detached from, cleans host respective side, and right side or left side change gear maintain idle running, so that it is guaranteed that cleaning host walking smooth-going.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810778090.5A CN108722929B (en) | 2018-07-16 | 2018-07-16 | Photovoltaic cleaning robot walking system and method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810778090.5A CN108722929B (en) | 2018-07-16 | 2018-07-16 | Photovoltaic cleaning robot walking system and method |
Publications (2)
| Publication Number | Publication Date |
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| CN108722929A true CN108722929A (en) | 2018-11-02 |
| CN108722929B CN108722929B (en) | 2024-07-05 |
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| CN201810778090.5A Active CN108722929B (en) | 2018-07-16 | 2018-07-16 | Photovoltaic cleaning robot walking system and method |
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110460303A (en) * | 2019-09-17 | 2019-11-15 | 北京中电博顺智能设备技术有限公司 | A kind of integrated power plate and photovoltaic panel clean robot |
| CN114161385A (en) * | 2021-10-28 | 2022-03-11 | 湖南海森格诺信息技术有限公司 | Autonomous navigation robot for cleaning photovoltaic module |
| CN115228795A (en) * | 2022-05-24 | 2022-10-25 | 浙江七度科技股份有限公司 | Adjustable length is convenient for modularization photovoltaic board scavenging machine of equipment |
| CN115283315A (en) * | 2022-08-23 | 2022-11-04 | 浙大宁波理工学院 | Obstacle-crossing cleaning device and method for photovoltaic module array |
| CN117666593A (en) * | 2024-02-01 | 2024-03-08 | 厦门蓝旭科技有限公司 | Walking control optimization method for photovoltaic cleaning robot |
| CN117674720A (en) * | 2023-12-18 | 2024-03-08 | 厦门蓝旭科技有限公司 | Be applied to abluent walking robot of photovoltaic |
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