CN210253241U - Automatic change photovoltaic power plant of perpendicular two-way walking control and clean robot - Google Patents
Automatic change photovoltaic power plant of perpendicular two-way walking control and clean robot Download PDFInfo
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- CN210253241U CN210253241U CN201920796652.9U CN201920796652U CN210253241U CN 210253241 U CN210253241 U CN 210253241U CN 201920796652 U CN201920796652 U CN 201920796652U CN 210253241 U CN210253241 U CN 210253241U
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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
- Y02B—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO BUILDINGS, e.g. HOUSING, HOUSE APPLIANCES OR RELATED END-USER APPLICATIONS
- Y02B10/00—Integration of renewable energy sources in buildings
- Y02B10/10—Photovoltaic [PV]
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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
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Abstract
The utility model discloses an automatic change photovoltaic power plant of perpendicular two-way walking control and clean robot, including the installation frame of rectangle frame structure, be fixed in control system and the battery in the installation frame, two sets of translation traveling system who connects in the installation frame both ends through corresponding two-way conversion system respectively, two sets of traveling system that cleans of connecting in the installation frame, two sets of traveling system that connect respectively in the installation frame both sides to and be fixed in the detecting system on the installation frame. The utility model discloses can accomplish cleaning of roof photovoltaic power plant optional position, do not need the platform system of trapped orbit and removal, practice thrift the cost, the flexibility is strong. The utility model discloses do not need auxiliary assembly, the X direction of robot can independently select the walking with the Y direction, can reach isolated subassembly through control system, accomplishes cleaning of isolated subassembly, has bigger prospect in roof photovoltaic power plant's application, and especially the dust is more advantageous than the factory building roof.
Description
Technical Field
The utility model relates to a clean the robot field, specifically be an automatic change photovoltaic power plant who perpendicular two-way walking control and clean robot.
Background
Photovoltaic power generation is a clean energy source and has been widely used all over the world. The photovoltaic module is the root of the electric energy generation of the solar power station, and the efficiency of the photovoltaic module directly determines the generating capacity of the solar power station. If the dust is attached to the surface of the photovoltaic module, the transmissivity of light is influenced, the radiation quantity received by the surface of the module is further influenced, the power generation efficiency is influenced, shadow can be formed due to the fact that the dust is close to the battery piece, hot spot effect can be formed locally on the photovoltaic module, the power generation efficiency of the module is further reduced, and even the module is burnt out, so that the fact that the photovoltaic module is kept clean is an effective way for guaranteeing the maximum power generation capacity of a photovoltaic power station. At present, cleaning robots are various, namely a ground power station cleaning robot, a roof power station cleaning robot and especially a roof power station cleaning robot are the most difficult to develop; the roof power station assembly is installed on a roof, the roof power station assembly is installed to include an overhaul channel and a lighting strip, the power station is divided into independent matrixes, each matrix is an independent small unit, the lighting strip or the overhaul strip is arranged between each matrix and the other matrix, the traditional method is that excessive channels are built in the lighting strip or the overhaul strip between the two matrixes, and each matrix is cleaned by one single-degree-of-freedom cleaning device, N cleaning devices are needed for N matrixes, so that the two methods cause that the installation engineering is complicated in working rhythm, large in workload, long in period, poor in system stability, high in device and labor cost, prone to various faults and poor in operation stability; the prior art adopts a robot (equipment) technical scheme needing to install a fixed track, the technical scheme is difficult to clean each assembly, when a power station is installed, some obstacles are avoided, and partial assemblies of the power station are sometimes isolated assemblies, and the cleaning of the isolated assemblies is quite troublesome at the moment.
SUMMERY OF THE UTILITY MODEL
The to-be-solved technical problem of the utility model is to provide an automatic change photovoltaic power plant of perpendicular two-way walking control and clean robot, can realize two-way walking and clean the function automatically, be applicable to cleaning of roof photovoltaic power plant.
The technical scheme of the utility model is that:
a photovoltaic power station cleaning robot with automatic vertical bidirectional walking control comprises an installation frame, a control system and a storage battery, wherein the control system and the storage battery are fixed in the installation frame and are positioned in the middle of the installation frame; the mounting frame is a rectangular frame structure formed by connecting a plurality of vertical sealing plates;
the control system and the storage battery are positioned between the two groups of translation traveling systems, each group of translation traveling system comprises a translation traveling frame, a translation traveling driving motor fixed on the inner side wall of the translation traveling frame, two groups of translation driving wheels respectively and rotatably connected to the two outer side walls of the translation traveling frame and a translation traveling crawler wound on each group of translation driving wheels, and the input ends of the two groups of translation driving wheels are fixedly connected with the output shaft of the translation traveling driving motor;
the bidirectional conversion system comprises an electric push rod, an upper push rod shaft, a lower push rod shaft, two groups of driven connecting rods, a first transmission shaft and a second transmission shaft, wherein the electric push rod is positioned between the two groups of driven connecting rods, the two groups of driven connecting rods are parallel to each other, the top end of the electric push rod is hinged to the upper push rod shaft, the bottom end of the electric push rod is hinged to the lower push rod shaft, the two ends of the upper push rod shaft are hinged to an installation frame, the two ends of the lower push rod shaft are hinged to translation walking frames corresponding to one group of translation walking systems, the top ends of the two groups of driven connecting rods are hinged to the first transmission shaft, the bottom ends of the two groups of driven connecting rods are hinged to the second transmission shaft, the two ends of the first transmission shaft are hinged to the;
the two groups of cleaning walking systems respectively comprise a cleaning walking driving motor fixed on the installation frame, two groups of cleaning walking driving wheels respectively positioned at two ends of the corresponding translation walking system and a cleaning walking crawler belt wound on the cleaning walking driving wheels, wherein one group of cleaning walking driving wheels is fixedly connected with an output shaft of the cleaning walking driving motor, and one group of cleaning walking driving wheels is in transmission connection with the other group of cleaning walking driving wheels through a cleaning walking transmission shaft;
the two groups of cleaning systems respectively comprise a cleaning driving motor fixed at one end of the installation frame, a cleaning transmission shaft connected with the cleaning driving motor and a rotary rolling brush fixed on the cleaning transmission shaft, the cleaning transmission shaft and the cleaning walking transmission shaft are parallel to each other, one end of the cleaning transmission shaft is fixedly connected with an output shaft of the cleaning driving motor, the other end of the cleaning transmission shaft is connected with the other end of the installation frame through a bearing, and the bottom ends of the rotary rolling brush and the bottom end of the cleaning walking crawler are positioned on the same horizontal plane;
the detection system be four displacement sensor that are fixed in four corners of installation frame respectively, four displacement sensor, translation walking driving motor, electric putter, clean walking driving motor, clean driving motor and all be connected with control system, translation walking driving motor, electric putter, clean walking driving motor, clean driving motor, control system all be connected with the battery and realize the power supply.
The translational traveling frame is of a rectangular frame structure consisting of vertical sealing plates, the two groups of translational transmission wheels respectively comprise a translational driving wheel, a plurality of translational auxiliary wheels, a translational driven wheel and a translational tensioning wheel, the translational driving wheel is fixedly connected with an output shaft of a translational traveling driving motor, the plurality of translational auxiliary wheels are positioned between the translational driving wheel and the translational driven wheel, the translational traveling crawler belt is wound on the translational driving wheel, the plurality of translational auxiliary wheels and the translational driven wheel, and the translational tensioning wheel is positioned on the outer ring of the translational traveling crawler belt and clings to the outer wall of the translational traveling crawler belt.
Each group of driven connecting rods of the bidirectional conversion system comprises two driven connecting rods which are parallel to each other, each group of first transmission shafts comprises two first transmission shafts which are parallel to each other and are positioned on the same horizontal plane, each group of second transmission shafts comprises two second transmission shafts which are parallel to each other and are positioned on the same horizontal plane, the top ends of the two driven connecting rods which are positioned on two sides of the electric push rod and are parallel to each other are hinged with the corresponding first transmission shaft, and the bottom ends of the two driven connecting rods which are positioned on two sides of the electric push rod and are parallel to each other are hinged with the corresponding second transmission shaft.
The electric push rod and the two groups of driven connecting rods are of a cross structure.
In the two groups of cleaning walking transmission wheels, four cleaning walking transmission wheels are provided, every two cleaning walking transmission wheels are provided with one group, each cleaning walking transmission wheel is wound with a corresponding cleaning walking crawler belt, each cleaning walking transmission wheel comprises a cleaning walking driving wheel, a plurality of cleaning walking auxiliary wheels, a cleaning walking driven wheel and a cleaning walking tension wheel, two cleaning walking driving wheels of one group of cleaning walking transmission wheels are fixedly connected with an output shaft of a cleaning walking driving motor, two cleaning walking driving wheels of one group of cleaning walking transmission wheels are in transmission connection with two cleaning walking driving wheels of the other group of cleaning walking transmission wheels through a cleaning walking transmission shaft, a plurality of cleaning walking auxiliary wheels are positioned between the corresponding cleaning walking driving wheels and the cleaning walking driven wheels, and the cleaning walking crawler belts are wound on the cleaning walking driving wheels, the cleaning walking auxiliary wheels and the cleaning walking driven wheels, the cleaning walking tension wheel is positioned at the inner ring of the corresponding cleaning walking crawler belt and is tightly attached to the inner wall of the cleaning walking crawler belt.
The cleaning walking transmission shaft of the cleaning walking system adopts a transmission hollow shaft.
Cleaning system still including a plurality of fixed connection in the installation baffle on the installation frame lateral wall, a plurality of installation baffles are along installation frame axial evenly distributed, clean driving motor be fixed in on the installation baffle of neighbouring installation frame one end department, all be connected with through the bearing between the adjacent installation baffle and clean the transmission shaft, a plurality ofly clean mutual fixed connection between the transmission shaft, every cleans and all is fixed with the rotatory round brush that corresponds on the transmission shaft.
The bottom mounting frame be fixed with a plurality of along the installation frame axial fixity supplementary brush strip, the bottom of a plurality of supplementary brush strips and the bottom of cleaning the walking track are located same horizontal plane.
The bottom mounting of installation frame have a plurality of spacing wheels, the bottom of a plurality of spacing wheels all is higher than the bottom of rotatory round brush.
The utility model has the advantages that:
the utility model discloses can rely on single little equipment of cleaning just can accomplish whole roof photovoltaic power plant to and power station photovoltaic matrix optional position cleans, need not add trapped orbit's auxiliary measure simultaneously, need not install and let the robot cross the supplementary track of lighting strip or maintenance area, need not install the platform system that removes, reach and practice thrift equipment cost and cost of labor by a wide margin, the shortening installation time who is showing has very strong flexibility. The utility model discloses can relax through adopt light area and maintenance passageway, do not need auxiliary assembly, the X direction and the Y direction of robot can independently select the walking, can reach isolated subassembly through control system, accomplish cleaning of isolated subassembly, have bigger prospect in roof photovoltaic power plant's application, especially the dust is more advantageous than the factory building roof.
Drawings
Fig. 1 is a plan view of the present invention.
Fig. 2 is a top view of the translational traveling system of the present invention.
Fig. 3 is a front view of the translational traveling system of the present invention.
Fig. 4 is a front view of the two-way switching system of the present invention.
Fig. 5 is a top view of the two-way switching system of the present invention.
Fig. 6 is a plan view of the cleaning and running system of the present invention.
Fig. 7 is a side view of the sweeping and traveling system of the present invention.
Fig. 8 is a top view of the sweeping system of the present invention.
Fig. 9 is a side view of the sweeping system of the present invention.
Fig. 10 is the utility model discloses clean photovoltaic power plant matrix subassembly's orbit picture.
Figure 11 is the utility model discloses clean the operation track picture of the isolated subassembly of photovoltaic power plant.
Detailed Description
The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative work belong to the protection scope of the present invention.
Referring to fig. 1, an automatic vertical bidirectional walking control photovoltaic power station cleaning robot comprises an installation frame 1, a control system 2 and a storage battery 3 which are fixed in the installation frame 1 and located in the middle of the installation frame 1, two groups of translation walking systems 4 which are respectively connected to two ends of the installation frame 1 through corresponding bidirectional conversion systems 5, two groups of cleaning walking systems 6 which are connected to the installation frame 1, two groups of cleaning systems 7 which are respectively connected to two sides of the installation frame 1, and a detection system which is fixed on the installation frame 1; the mounting frame 1 is a rectangular frame structure formed by connecting a plurality of vertical sealing plates;
referring to fig. 2 and 3, the control system 2 and the storage battery 3 are located between two sets of translation traveling systems 4, each set of translation traveling system 4 includes a translation traveling frame 41, a translation traveling driving motor 42 fixed on the inner side wall of the translation traveling frame 41, two sets of translation transmission wheels respectively rotatably connected to two outer side walls of the translation traveling frame 41, and a translation traveling crawler 43 wound on each set of translation transmission wheels, and the input ends of the two sets of translation transmission wheels are fixedly connected with the output shaft of the translation traveling driving motor 42; the translational traveling frame 41 is a rectangular frame structure composed of vertical sealing plates, two sets of translational transmission wheels respectively comprise a translational driving wheel 44, three translational auxiliary wheels 45, a translational driven wheel 46 and a translational tension wheel 47, the translational driving wheel 44 is fixedly connected with an output shaft of the translational traveling driving motor 42, the three translational auxiliary wheels 45 are positioned between the translational driving wheel 44 and the translational driven wheel 46, the translational traveling crawler 43 is wound on the translational driving wheel 44, the three translational auxiliary wheels 45 and the translational driven wheel 46, and the translational tension wheel 47 is positioned on the outer ring of the translational traveling crawler 43 and clings to the outer wall of the translational traveling crawler 47;
referring to fig. 4 and 5, the bidirectional conversion system 5 includes an electric push rod 51, an upper push rod shaft 52, a lower push rod shaft 53, two sets of driven connecting rods 54, a first transmission shaft 55 and a second transmission shaft 56, the electric push rod 51 is located between the two sets of driven connecting rods 54, the two sets of driven connecting rods 54 are parallel to each other, the top end of the electric push rod 51 is hinged to the upper push rod shaft 52, the bottom end of the electric push rod 51 is hinged to the lower push rod shaft 53, the two ends of the upper push rod shaft 52 are hinged to the installation frame 5, the two ends of the lower push rod shaft 53 are hinged to the translational traveling frames 41 of the corresponding set of translational traveling system 4, the electric push rod 51 and the two sets of driven connecting rods 54 are in a cross structure, each set of driven connecting rods 54 includes two driven connecting rods parallel to each other, each set of first transmission shafts 55 includes two first transmission shafts parallel to each other and located on the same horizontal plane, in the two groups of driven connecting rods, the top ends of two driven connecting rods 54 which are positioned at two sides of the electric push rod 51 and are parallel to each other are hinged with a corresponding first transmission shaft 55, and the bottom ends of two driven connecting rods 54 which are positioned at two sides of the electric push rod 51 and are parallel to each other are hinged with a corresponding second transmission shaft 56;
referring to fig. 6 and 7, each of the two cleaning traveling systems 6 includes a cleaning traveling driving motor 61 fixed on the mounting frame 1, two cleaning traveling transmission wheels respectively located at two ends of the corresponding translation traveling system, and a cleaning traveling crawler 62 wound on the cleaning traveling transmission wheels; wherein, in the two groups of cleaning walking transmission wheels, the number of the cleaning walking transmission wheels is four, every two are a group, each cleaning walking transmission wheel is wound with a corresponding cleaning walking crawler belt 62, each cleaning walking transmission wheel comprises a cleaning walking driving wheel 64, three cleaning walking auxiliary wheels 65, a cleaning walking driven wheel 66 and a cleaning walking tension wheel 67, wherein, the two cleaning walking driving wheels 64 of one group of cleaning walking transmission wheels are fixedly connected with the output shaft of the cleaning walking driving motor 61, the two cleaning walking driving wheels 64 of one group of cleaning walking transmission wheels are in transmission connection with the two cleaning walking driving wheels 64 of the other group of cleaning walking transmission wheels through a cleaning walking transmission shaft 63 (transmission hollow shaft), the three cleaning walking auxiliary wheels 65 are positioned between the corresponding cleaning walking driving wheels 64 and the cleaning walking driven wheels 66, the cleaning walking crawler belts 62 are wound on the cleaning walking driving wheels 64, The cleaning travel assisting wheels 65 and the cleaning travel driven wheels 66 are provided with cleaning travel tensioning wheels 67 which are positioned on the inner rings of the corresponding cleaning travel crawler belts 62 and are tightly attached to the inner walls of the cleaning travel crawler belts;
referring to fig. 8 and 9, each of the two cleaning systems 7 includes a plurality of mounting partition plates 71 fixedly connected to the outer side wall of the mounting frame 1, a cleaning driving motor 72 fixed to the mounting partition plate 71 near one end of the mounting frame 1, a cleaning transmission shaft 73 connected to the cleaning driving motor 72, and rotary rolling brushes 74 fixed to the cleaning transmission shaft 73, the mounting partition plates 71 are uniformly distributed along the axial direction of the mounting frame 1, the cleaning transmission shafts 73 are parallel to the cleaning walking transmission shaft 63, the cleaning transmission shafts 73 are connected to adjacent mounting partition plates 71 through bearings, the plurality of cleaning transmission shafts 73 are fixedly connected to each other, each cleaning transmission shaft 73 is fixed with a corresponding rotary rolling brush 74, the bottom ends of the rotary rolling brushes 74 and the bottom ends of the cleaning walking tracks 62 are located on the same horizontal plane, and the bottom end of the mounting frame 1 is fixed with four auxiliary brush strips 75 axially fixed along the mounting, the bottom ends of the four auxiliary brush bars 75 and the bottom end of the cleaning walking crawler 62 are positioned on the same horizontal plane; wherein, the bottom mounting of installation frame has eight spacing wheels 76, and the bottom of eight spacing wheels all is higher than the bottom of rotatory round brush, cleans the in-process, and rotatory round brush 74 cleans on the photovoltaic power plant subassembly and has slight swing, and spacing wheel 76's effect is the range of restriction swing, controls the area of contact of rotatory round brush 74 and photovoltaic power plant subassembly to the frictional force of rotatory round brush 74 of control and photovoltaic power plant subassembly.
The detection system is four displacement sensors 8 (see fig. 1) respectively fixed at four corners of the installation frame 1, the four displacement sensors 8, the translation walking driving motor 42, the electric push rod 51, the cleaning walking driving motor 61 and the cleaning driving motor 72 are all connected with the control system 2, and the translation walking driving motor 42, the electric push rod 51, the cleaning walking driving motor 61, the cleaning driving motor 72 and the control system 2 are all connected with the storage battery 3 to realize power supply.
The utility model discloses a theory of operation:
in a cleaning mode, the electric push rod 51 is in a contraction state, at the moment, the bottom end of the translational walking track 43 of the translational walking system 4 is higher than the bottom end of the cleaning walking track 62 of the cleaning walking system 6, the translational walking track 43 is not in contact with the upper surface of the roof photovoltaic module and has a fixed distance, at the moment, the cleaning walking system 6 and the cleaning system 7 work, the cleaning walking driving motor 61 of the cleaning translational system 6 works, the cleaning walking driving motor 61 drives the cleaning walking driving wheel to rotate, the cleaning walking driving wheel drives the cleaning walking track 62 to move, the robot moves along the Y direction, meanwhile, the cleaning driving motor 72 of the cleaning system 7 works, and the cleaning driving motor 72 drives the rotary rolling brush 74 on the cleaning transmission shaft 73 to rotate, so that the cleaning of the photovoltaic; the translation mode, electric putter is in the extension state, wholly lift a height with the robot, at this moment, the bottom of 4 translation walking tracks 43 of translation walking system is less than the bottom of cleaning walking track 62 of 6 cleaning walking system, clean walking track 62 contactless roof photovoltaic module upper surface and have a fixed distance, translation walking driving motor 42 of translation walking system 4, translation walking driving motor 42 drives the translation drive wheel and rotates, translation drive wheel drive translation walking track 43 motion, the robot moves along X direction, accomplish the change of cleaning the position.
Four displacement sensors 8 of the detection system are arranged at positions, close to four corners, of the robot and are responsible for displacement detection of the cleaning motion direction and the translational motion direction, detection data are sent to the control system 2, and the control system 2 controls the rotating speeds of the translational walking driving motor 42 and the cleaning walking driving motor 61 in real time according to the data of the detection system, so that the robot is ensured to advance unbiased and stable.
As shown in fig. 10, in the cleaning walking movement, after the cleaning of the a1 matrix is finished, the robot enters the a2 matrix for cleaning, an inspection belt is arranged between the two matrices, the cleaning walking system 6 of the robot can easily cross the inspection belt, because the cleaning walking system 6 of the robot is in a crawler walking mode, the length of the crawler is designed according to the needed length, the length of the contact component of the cleaning walking crawler 62 is more than 2 times of the width of the inspection belt, and the robot can easily cross the inspection belt; the robot enters the A3 matrix cleaning after the A2 matrix cleaning is finished, the robot needs to cross the lighting belt, the robot needs to move in the X direction, at the moment, the translational traveling system 4 works, and as the translational traveling system 4 is a left-right dual system, the length of the translational traveling crawler 43 of the translational traveling system 4 meets the requirement that the translational traveling crawler 43 can simultaneously contact the left edge of the A2 matrix and the right edge of the A3 matrix, the robot can easily and stably cross the lighting belt and enter the A3 matrix to finish cleaning; after the A3 matrix cleaning is finished, the robot enters the A4 matrix through the cleaning walking system 6 to finish the cleaning.
The utility model discloses when cleaning the isolated subassembly in power station, according to the motion mode as figure 11, accomplish cleaning of isolated subassembly and whole power station through the conversion that cleans traveling system 6 and translation traveling system 4.
Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.
Claims (9)
1. The utility model provides an automatic change photovoltaic power plant who perpendicular two-way walking control and clean robot which characterized in that: the device comprises an installation frame, a control system and a storage battery which are fixed in the installation frame and positioned in the middle of the installation frame, two groups of translation traveling systems which are respectively connected in two end parts of the installation frame through corresponding two-way conversion systems, two groups of cleaning traveling systems which are connected in the installation frame, two groups of cleaning systems which are respectively connected on two sides of the installation frame, and a detection system which is fixed on the installation frame; the mounting frame is a rectangular frame structure formed by connecting a plurality of vertical sealing plates;
the control system and the storage battery are positioned between the two groups of translation traveling systems, each group of translation traveling system comprises a translation traveling frame, a translation traveling driving motor fixed on the inner side wall of the translation traveling frame, two groups of translation driving wheels respectively and rotatably connected to the two outer side walls of the translation traveling frame and a translation traveling crawler wound on each group of translation driving wheels, and the input ends of the two groups of translation driving wheels are fixedly connected with the output shaft of the translation traveling driving motor;
the bidirectional conversion system comprises an electric push rod, an upper push rod shaft, a lower push rod shaft, two groups of driven connecting rods, a first transmission shaft and a second transmission shaft, wherein the electric push rod is positioned between the two groups of driven connecting rods, the two groups of driven connecting rods are parallel to each other, the top end of the electric push rod is hinged to the upper push rod shaft, the bottom end of the electric push rod is hinged to the lower push rod shaft, the two ends of the upper push rod shaft are hinged to an installation frame, the two ends of the lower push rod shaft are hinged to translation walking frames corresponding to one group of translation walking systems, the top ends of the two groups of driven connecting rods are hinged to the first transmission shaft, the bottom ends of the two groups of driven connecting rods are hinged to the second transmission shaft, the two ends of the first transmission shaft are hinged to the;
the two groups of cleaning walking systems respectively comprise a cleaning walking driving motor fixed on the installation frame, two groups of cleaning walking driving wheels respectively positioned at two ends of the corresponding translation walking system and a cleaning walking crawler belt wound on the cleaning walking driving wheels, wherein one group of cleaning walking driving wheels is fixedly connected with an output shaft of the cleaning walking driving motor, and one group of cleaning walking driving wheels is in transmission connection with the other group of cleaning walking driving wheels through a cleaning walking transmission shaft;
the two groups of cleaning systems respectively comprise a cleaning driving motor fixed at one end of the installation frame, a cleaning transmission shaft connected with the cleaning driving motor and a rotary rolling brush fixed on the cleaning transmission shaft, the cleaning transmission shaft and the cleaning walking transmission shaft are parallel to each other, one end of the cleaning transmission shaft is fixedly connected with an output shaft of the cleaning driving motor, the other end of the cleaning transmission shaft is connected with the other end of the installation frame through a bearing, and the bottom ends of the rotary rolling brush and the bottom end of the cleaning walking crawler are positioned on the same horizontal plane;
the detection system be four displacement sensor that are fixed in four corners of installation frame respectively, four displacement sensor, translation walking driving motor, electric putter, clean walking driving motor, clean driving motor and all be connected with control system, translation walking driving motor, electric putter, clean walking driving motor, clean driving motor, control system all be connected with the battery and realize the power supply.
2. The automatic change photovoltaic power plant of perpendicular two-way walking control and clean machine people of claim 1, characterized in that: the translational traveling frame is of a rectangular frame structure consisting of vertical sealing plates, the two groups of translational transmission wheels respectively comprise a translational driving wheel, a plurality of translational auxiliary wheels, a translational driven wheel and a translational tensioning wheel, the translational driving wheel is fixedly connected with an output shaft of a translational traveling driving motor, the plurality of translational auxiliary wheels are positioned between the translational driving wheel and the translational driven wheel, the translational traveling crawler belt is wound on the translational driving wheel, the plurality of translational auxiliary wheels and the translational driven wheel, and the translational tensioning wheel is positioned on the outer ring of the translational traveling crawler belt and clings to the outer wall of the translational traveling crawler belt.
3. The automatic change photovoltaic power plant of perpendicular two-way walking control and clean machine people of claim 1, characterized in that: each group of driven connecting rods of the bidirectional conversion system comprises two driven connecting rods which are parallel to each other, each group of first transmission shafts comprises two first transmission shafts which are parallel to each other and are positioned on the same horizontal plane, each group of second transmission shafts comprises two second transmission shafts which are parallel to each other and are positioned on the same horizontal plane, the top ends of the two driven connecting rods which are positioned on two sides of the electric push rod and are parallel to each other are hinged with the corresponding first transmission shaft, and the bottom ends of the two driven connecting rods which are positioned on two sides of the electric push rod and are parallel to each other are hinged with the corresponding second transmission shaft.
4. The automatic change photovoltaic power plant of perpendicular two-way walking control and clean machine people of claim 1, characterized in that: the electric push rod and the two groups of driven connecting rods are of a cross structure.
5. The automatic change photovoltaic power plant of perpendicular two-way walking control and clean machine people of claim 1, characterized in that: in the two groups of cleaning walking transmission wheels, four cleaning walking transmission wheels are provided, every two cleaning walking transmission wheels are provided with one group, each cleaning walking transmission wheel is wound with a corresponding cleaning walking crawler belt, each cleaning walking transmission wheel comprises a cleaning walking driving wheel, a plurality of cleaning walking auxiliary wheels, a cleaning walking driven wheel and a cleaning walking tension wheel, two cleaning walking driving wheels of one group of cleaning walking transmission wheels are fixedly connected with an output shaft of a cleaning walking driving motor, two cleaning walking driving wheels of one group of cleaning walking transmission wheels are in transmission connection with two cleaning walking driving wheels of the other group of cleaning walking transmission wheels through a cleaning walking transmission shaft, a plurality of cleaning walking auxiliary wheels are positioned between the corresponding cleaning walking driving wheels and the cleaning walking driven wheels, and the cleaning walking crawler belts are wound on the cleaning walking driving wheels, the cleaning walking auxiliary wheels and the cleaning walking driven wheels, the cleaning walking tension wheel is positioned at the inner ring of the corresponding cleaning walking crawler belt and is tightly attached to the inner wall of the cleaning walking crawler belt.
6. The automatic change photovoltaic power plant of perpendicular two-way walking control and clean machine people of claim 1, characterized in that: the cleaning walking transmission shaft of the cleaning walking system adopts a transmission hollow shaft.
7. The automatic change photovoltaic power plant of perpendicular two-way walking control and clean machine people of claim 1, characterized in that: cleaning system still including a plurality of fixed connection in the installation baffle on the installation frame lateral wall, a plurality of installation baffles are along installation frame axial evenly distributed, clean driving motor be fixed in on the installation baffle of neighbouring installation frame one end department, all be connected with through the bearing between the adjacent installation baffle and clean the transmission shaft, a plurality ofly clean mutual fixed connection between the transmission shaft, every cleans and all is fixed with the rotatory round brush that corresponds on the transmission shaft.
8. The automatic change photovoltaic power plant of perpendicular two-way walking control and clean machine people of claim 1, characterized in that: the bottom mounting frame be fixed with a plurality of along the installation frame axial fixity supplementary brush strip, the bottom of a plurality of supplementary brush strips and the bottom of cleaning the walking track are located same horizontal plane.
9. The automatic change photovoltaic power plant of perpendicular two-way walking control and clean machine people of claim 1, characterized in that: the bottom mounting of installation frame have a plurality of spacing wheels, the bottom of a plurality of spacing wheels all is higher than the bottom of rotatory round brush.
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| CN201920796652.9U CN210253241U (en) | 2019-05-30 | 2019-05-30 | Automatic change photovoltaic power plant of perpendicular two-way walking control and clean robot |
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| CN201920796652.9U CN210253241U (en) | 2019-05-30 | 2019-05-30 | Automatic change photovoltaic power plant of perpendicular two-way walking control and clean robot |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110064613A (en) * | 2019-05-30 | 2019-07-30 | 安徽天柱绿色能源科技有限公司 | A kind of photovoltaic plant sweeping robot automating vertical bidirectional travelling control |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110064613A (en) * | 2019-05-30 | 2019-07-30 | 安徽天柱绿色能源科技有限公司 | A kind of photovoltaic plant sweeping robot automating vertical bidirectional travelling control |
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