CN107487393A - A kind of crawler type drive mechanism of photovoltaic sweeping robot - Google Patents
A kind of crawler type drive mechanism of photovoltaic sweeping robot Download PDFInfo
- Publication number
- CN107487393A CN107487393A CN201710865005.4A CN201710865005A CN107487393A CN 107487393 A CN107487393 A CN 107487393A CN 201710865005 A CN201710865005 A CN 201710865005A CN 107487393 A CN107487393 A CN 107487393A
- Authority
- CN
- China
- Prior art keywords
- wheel
- motor
- crawler type
- athey
- drive mechanism
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 238000010408 sweeping Methods 0.000 title claims abstract description 21
- 230000003287 optical effect Effects 0.000 claims abstract description 20
- 230000008878 coupling Effects 0.000 claims description 6
- 238000010168 coupling process Methods 0.000 claims description 6
- 238000005859 coupling reaction Methods 0.000 claims description 6
- 230000005611 electricity Effects 0.000 claims description 3
- 230000008450 motivation Effects 0.000 claims description 2
- 238000010586 diagram Methods 0.000 description 3
- 238000004140 cleaning Methods 0.000 description 2
- 230000009194 climbing Effects 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 241000219098 Parthenocissus Species 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 244000309464 bull Species 0.000 description 1
- 238000005253 cladding Methods 0.000 description 1
- 238000005192 partition Methods 0.000 description 1
Classifications
-
- 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
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/24—Floor-sweeping machines, motor-driven
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
- A47L11/4063—Driving means; Transmission means therefor
- A47L11/4066—Propulsion of the whole machine
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D55/00—Endless track vehicles
- B62D55/08—Endless track units; Parts thereof
Landscapes
- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Toys (AREA)
- Manipulator (AREA)
Abstract
The present invention discloses a kind of crawler type drive mechanism of photovoltaic sweeping robot, including main framework, also include motor-driven mechanism and crawler type walking mechanism, the motor-driven mechanism is arranged at the frame of the main framework, the motor-driven mechanism includes motor fixing frame, motor and optical axis, and the motor fixing frame is fixedly installed on main framework, and the motor is fixed on the motor fixing frame, the optical axis be two, respectively with the power output axis connection of the motor；The crawler type walking mechanism is arranged at the both sides of the main framework, including two small-wheel-diameter Athey wheels, two big wheel footpath Athey wheel and crawler belt, the crawler belt circumferentially coats described two small-wheel-diameter Athey wheels and two big wheel footpath Athey wheel forms a trapezoidal motion mechanism, one of small-wheel-diameter Athey wheel is connected with the optical axis, as driving wheel.The present invention is bigger with the contact area of photovoltaic panel, mitigates the pressure to photovoltaic panel.
Description
Technical field
The present invention relates to a kind of crawler type drive mechanism, the crawler type for more particularly relating to a kind of photovoltaic sweeping robot is driven
Motivation structure, belong to photovoltaic robotic technology field.
Background technology
At present, photovoltaic sweeping robot is come into operation extensively by power station, and it drives photovoltaic robot to exist by walking mechanism
Photovoltaic panel is walked, and photovoltaic panel is cleaned by hairbrush while walking, to realize that focusing underlying surface plate automatically is come
Return and clean, the surface for solving large-sized photovoltaic power station photovoltaic panel cleans problem.
Photovoltaic sweeping robot uses in-wheel driving mechanism to drive the walking operations of photovoltaic sweeping robot substantially, wheeled
Drive mechanism driving get up it is relatively simple, but because wheel and photovoltaic panel contact area are smaller, it is easy to photovoltaic panel
Larger pressure is caused, so as to damage photovoltaic panel；In addition, photovoltaic panel placement is uneven, it is larger or high to run into gap
Two excessive photovoltaic panels of low difference, wheel, which is easy to be stuck, cannot get through, and cause photovoltaic sweeping robot not continue
Cleaning work.
The content of the invention
Goal of the invention：Present invention aims in view of the shortcomings of the prior art, there is provided a kind of and contact surface of photovoltaic panel
Product is bigger, more steady and preferably a kind of crawler type drive mechanism of photovoltaic sweeping robot of obstacle climbing ability of walking.
Technical scheme：A kind of crawler type drive mechanism of photovoltaic sweeping robot of the present invention, including main framework,
Also include motor-driven mechanism and crawler type walking mechanism,
The motor-driven mechanism is arranged at the frame of the main framework, and the motor-driven mechanism is fixed including motor
Frame, motor and optical axis, the motor fixing frame are fixedly installed on main framework, and the motor is fixed on the motor fixing frame
On, the optical axis be two, respectively with the power output axis connection of the motor；
The crawler type walking mechanism is arranged at the both sides of the main framework, including two small-wheel-diameter Athey wheels, two bull wheels
Footpath Athey wheel and crawler belt, the crawler belt circumferentially coats described two small-wheel-diameter Athey wheels and two big wheel footpath Athey wheel forms one
Individual trapezoidal motion mechanism, one of small-wheel-diameter Athey wheel is connected with the optical axis, as driving wheel.
The technical solution of the present invention is further defined as the crawler type walking mechanism also includes track wheel shaft one and crawler belt
Wheel shaft two, the track wheel shaft one are through in the endoporus of small-wheel-diameter Athey wheel, form revolute pair；Described track wheel shaft two is through
In the endoporus of big wheel footpath Athey wheel, revolute pair is formed.
Further, the crawler type walking mechanism also includes tensioning wheel, and the outside of the tensioning wheel and the crawler belt is tight
Suffer setting.
Further, the motor-driven mechanism also includes two belt pulleys of axle and belt and shaft coupling, described two skins
Belt wheel is separately fixed at one end of the motor output shaft and optical axis, and the belt is socketed on described two belt pulleys, described
Shaft coupling is connected to one end of the optical axis.
Further, the motor-driven mechanism also includes intermediate plate one and intermediate plate two, the intermediate plate one and centre
Plate two is close to the motor fixing frame and is fixedly installed on support body.
Further, the small-wheel-diameter Athey wheel is fixed by bearing one, the optical axis being connected with the small-wheel-diameter Athey wheel
On be fixedly connected with bearing back-up ring.
Further, in addition to support mechanism, the support mechanism includes load-bearing wheel carrier one, load-bearing wheel carrier two, described to hold
Roller frame one is fixed on the rear end of the main framework, fixes BOGEY WHEEL two below, and the load-bearing wheel carrier two is fixed on described
At the center of cylinder framework, BOGEY WHEEL one is fixed below.
Further, spring is provided between the BOGEY WHEEL two and the load-bearing wheel carrier one, the spring is through pressure bullet
Compressed on spring axle and with pressing spring jacking block.
Beneficial effect：The present invention provides the crawler type drive mechanism of photovoltaic sweeping robot, using crawler type drive mechanism,
It is bigger with the contact area of photovoltaic panel, can make more steady and obstacle climbing ability that clearing apparatus walks on photovoltaic panel compared with
It is good, while the pressure to photovoltaic panel can be mitigated.
Brief description of the drawings
Fig. 1 is the overall assembling structural representation of the crawler type drive mechanism of the present invention,
Fig. 2 is the side schematic view of the crawler type drive mechanism of the present invention,
Fig. 3 is the end view of the crawler type drive mechanism of the present invention；
Fig. 4 is the motor-driven structure schematic diagram of the present invention,
Fig. 5 is the track driving mechanism structure schematic device of the present invention；
Fig. 6 is the crawler type drive mechanism internal drive schematic diagram of the present invention.
Embodiment
Technical solution of the present invention is described in detail below by accompanying drawing, but protection scope of the present invention is not limited to
The embodiment.
Embodiment 1：The present embodiment provides a kind of crawler type drive mechanism of photovoltaic sweeping robot, including main framework,
Motor-driven mechanism, crawler type walking mechanism and support mechanism.
The main framework schematic diagram is adopted as shown in figure 1, using symmetrical structure among the support body of the symmetrical structure
Connected with connecting plate 16, including side plate 1, back shroud 1, back shroud 2 11 and back shroud 3 21, the side plate 1 are four pieces, are
The agent structure of photovoltaic robot is wrapped up, is be arranged in parallel two-by-two, every two blocks side plates 1 on the same line are connected by connecting plate 16
Connect, connecting plate 16 there are two pieces, is connected by screw respectively on side plate 1.Described back shroud 1 is connected by screw in side
On plate 1, described back shroud 2 11 has four, and for connecting lateral plate 1 and back shroud 1, described back shroud 3 21 passes through spiral shell
Nail is connected on back shroud 2 11.
The motor-driven mechanism is arranged at the frame of the main framework, the motor-driven mechanism as shown in figure 4,
Including motor fixing frame 8, motor 3 and optical axis 2, the motor fixing frame 8 is connected by screw on side plate 1, for fixed electricity
Machine 3, motor cover 26 is connected by screw on the motor fixing frame 8.The motor 3 is fixed on the motor fixing frame 8, institute
Optical axis 2 is stated as two, respectively with the power output axis connection of the motor 3.The motor-driven mechanism also includes two skins of axle
Belt wheel 23 and belt 24 and shaft coupling 22, described two belt pulleys 23 are separately fixed at the one of the output shaft of motor 3 and optical axis 2
End, the belt 24 are socketed on described two belt pulleys 23, and the shaft coupling 22 is connected to one end of the optical axis 2.It is described
Motor-driven mechanism also includes intermediate plate 1 and intermediate plate 27, and the intermediate plate 1 and intermediate plate 27 are close to the motor and consolidated
Determine frame 8 to be fixedly installed on support body, meanwhile, the intermediate plate 1 and intermediate plate 27 are connected by screw on side plate 1.
The crawler type walking mechanism is arranged at the both sides of the main framework, as shown in Figure 5 and Figure 6, including bearing block
27th, two small-wheel-diameter Athey wheels 31, two big wheel footpath Athey wheel 32, crawler belt 30, crawler belt side plate 1 and crawler belt side plate 2 29.Institute
The bearing block 27 stated is connected by screw in fixed plate 9.Described Athey wheel 1 is by the device of bearing 1 in crawler belt side plate
Between one 28 and crawler belt side plate 2 29, described Athey wheel 2 32 is by the device of bearing 2 36 in crawler belt side plate 1 and crawler belt side
Between plate 2 29, together with described crawler belt side plate 1 is bolted with crawler belt side plate 2 29.The crawler belt 30 is along week
A trapezoidal motion mechanism is formed to the described two small-wheel-diameter Athey wheels 31 of cladding and two big wheel footpath Athey wheel 32, one of them
Small-wheel-diameter Athey wheel 34 is connected with the optical axis 2, as driving wheel.The crawler type walking mechanism also includes track wheel shaft 1
With track wheel shaft 2 35, the track wheel shaft 1 is through in the endoporus of small-wheel-diameter Athey wheel 31, forms revolute pair；Described shoe
Belt shaft 2 35 is through in the endoporus of big wheel footpath Athey wheel 32, forms revolute pair.The crawler type walking mechanism also includes tensioning
Wheel 33, the adjacent setting in outside of the tensioning wheel 33 and the crawler belt 30, and be bolted in crawler belt side plate 1 and carry out
Between band side plate 2 29.The small-wheel-diameter Athey wheel 34 is fixed by bearing 1, the light being connected with the small-wheel-diameter Athey wheel 34
Bearing back-up ring 4 is fixedly connected with axle 2, end ring 4 plays a part of fixing bearing 1.
The structural representation of the support mechanism as shown in Figures 2 and 3, the support mechanism include load-bearing wheel carrier 1,
Load-bearing wheel carrier 2 15, the load-bearing wheel carrier 1 are connected by screw on back shroud 3 21, fix BOGEY WHEEL 2 18 below,
The load-bearing wheel carrier 2 15 is fixed at the center of the cylinder framework, fixes BOGEY WHEEL 1 below.The load-bearing wheel carrier
2 15 have two, for connecting intermediate plate 1 and intermediate plate 27.Between the BOGEY WHEEL 2 18 and the load-bearing wheel carrier 1
Spring 13 is provided with, the spring 13 is through on pressing spring axle 19 and compressed with pressing spring jacking block 14.The structure can be adjusted and held
Roller 2 18 so that BOGEY WHEEL 2 18 remains is in fit-state with photovoltaic wooden partition, prevents photovoltaic robot from position occurs
Skew.
In use, a kind of photovoltaic panel clearing apparatus is placed on photovoltaic panel for clearance, start motor, wherein driving
The motor output shaft of dynamic creeper undercarriage drives belt wheel drive Athey wheel one by belt one, and Athey wheel one passes through crawler belt band
Dynamic Athey wheel two allows photovoltaic sweeping robot to complete counter plate so that walking mechanism behaves on photovoltaic panel
Cleaning works.
As described above, although the present invention has been represented and described with reference to specific preferred embodiment, but it must not be explained
For to the limitation of itself of the invention., can be right under the premise of the spirit and scope of the present invention that appended claims define are not departed from
Various changes can be made in the form and details for it.
Claims (8)
1. a kind of crawler type drive mechanism of photovoltaic sweeping robot, including main framework, it is characterised in that also driven including motor
Motivation structure and crawler type walking mechanism,
The motor-driven mechanism is arranged at the frame of the main framework, and the motor-driven mechanism includes motor fixing frame
（8）, motor（3）And optical axis（2）, the motor fixing frame（8）It is fixedly installed on main framework, the motor（3）It is fixed on
The motor fixing frame（8）On, the optical axis（2）For two, respectively with the motor（3）Power output axis connection；
The crawler type walking mechanism is arranged at the both sides of the main framework, including two small-wheel-diameter Athey wheels（31）, two
Big wheel footpath Athey wheel（32）And crawler belt（30）, the crawler belt（30）Circumferentially coat described two small-wheel-diameter Athey wheels（31）With two
Individual big wheel footpath Athey wheel（32）Form a trapezoidal motion mechanism, one of small-wheel-diameter Athey wheel（34）With the optical axis（2）
Connection, as driving wheel.
A kind of 2. crawler type drive mechanism of photovoltaic sweeping robot according to claim 1, it is characterised in that the shoe
Belt walking mechanism also includes track wheel shaft one（34）With track wheel shaft two（35）, the track wheel shaft one（34）It is through small-wheel-diameter
Athey wheel（31）Endoporus in, formed revolute pair；Described track wheel shaft two（35）It is through big wheel footpath Athey wheel（32）Endoporus
In, form revolute pair.
A kind of 3. crawler type drive mechanism of photovoltaic sweeping robot according to claim 1, it is characterised in that the shoe
Belt walking mechanism also includes tensioning wheel（33）, the tensioning wheel（33）With the crawler belt（30）The adjacent setting in outside.
A kind of 4. crawler type drive mechanism of photovoltaic sweeping robot according to claim 1, it is characterised in that the electricity
Machine drive mechanism also includes two belt pulleys of axle（23）And belt（24）And shaft coupling（22）, described two belt pulleys（23）Respectively
It is fixed on the motor（3）Output shaft and optical axis（2）One end, the belt（24）It is socketed in described two belt pulleys（23）
On, the shaft coupling（22）It is connected to the optical axis（2）One end.
A kind of 5. crawler type drive mechanism of photovoltaic sweeping robot according to claim 1, it is characterised in that the electricity
Machine drive mechanism also includes intermediate plate one（6）With intermediate plate two（7）, the intermediate plate one（6）With intermediate plate two（7）It is close to described
Motor fixing frame（8）It is fixedly installed on support body.
6. the crawler type drive mechanism of a kind of photovoltaic sweeping robot according to claim 1, it is characterised in that described small
Wheel footpath Athey wheel（34）Pass through bearing one（5）It is fixed, with the small-wheel-diameter Athey wheel（34）The optical axis of connection（2）On be fixedly connected
End ring（4）.
7. the crawler type drive mechanism of a kind of photovoltaic sweeping robot according to claim 1, it is characterised in that also include
Support mechanism, the support mechanism include load-bearing wheel carrier one（12）, load-bearing wheel carrier two（15）, the load-bearing wheel carrier one（12）It is fixed
In the rear end of the main framework, BOGEY WHEEL two is fixed below（18）, the load-bearing wheel carrier two（15）It is fixed on the cylinder
At the center of framework, BOGEY WHEEL one is fixed below（17）.
8. the crawler type drive mechanism of a kind of photovoltaic sweeping robot according to claim 7, it is characterised in that described to hold
Roller two（18）With the load-bearing wheel carrier one（12）Between be provided with spring（13）, the spring（13）It is through pressing spring axle（19）
Go up and use pressing spring jacking block（14）Compress.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710865005.4A CN107487393A (en) | 2017-09-22 | 2017-09-22 | A kind of crawler type drive mechanism of photovoltaic sweeping robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710865005.4A CN107487393A (en) | 2017-09-22 | 2017-09-22 | A kind of crawler type drive mechanism of photovoltaic sweeping robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN107487393A true CN107487393A (en) | 2017-12-19 |
Family
ID=60653164
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710865005.4A Pending CN107487393A (en) | 2017-09-22 | 2017-09-22 | A kind of crawler type drive mechanism of photovoltaic sweeping robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107487393A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107985433A (en) * | 2017-12-28 | 2018-05-04 | 盛琳芫 | A kind of road guard electric rail vehicle |
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| JP2013244896A (en) * | 2012-05-28 | 2013-12-09 | Hitachi-Ge Nuclear Energy Ltd | Crawler type moving mechanism, and traveling type robot provided with crawler type moving mechanism |
| CN204071964U (en) * | 2014-09-19 | 2015-01-07 | 天津海欣联华机械设备设计有限公司 | All-direction multi-functional clean robot |
| CN104607400A (en) * | 2015-01-05 | 2015-05-13 | 北京天诚同创电气有限公司 | Cleaning and scanning device and cleaning method for photovoltaic cell panel |
| CN105057246A (en) * | 2015-08-20 | 2015-11-18 | 北京天诚同创电气有限公司 | Cleaning device |
| CN204866637U (en) * | 2015-07-28 | 2015-12-16 | 张意铃 | Photovoltaic module cleaning device and transmission structure thereof |
| CN105414069A (en) * | 2015-12-09 | 2016-03-23 | 北京天诚同创电气有限公司 | Cleaning device |
| CN205381323U (en) * | 2015-12-24 | 2016-07-13 | 重庆太初新能源有限公司 | Large -scale ground light lies prostrate clean system in power station bearing wheel subassembly |
| CN105964581A (en) * | 2016-06-01 | 2016-09-28 | 王志文 | Solar photovoltaic panel automatic cleaning robot |
| CN206356290U (en) * | 2016-12-01 | 2017-07-28 | 南京天创电子技术有限公司 | Photovoltaic panel automatic cleaning device |
| CN207450058U (en) * | 2017-09-22 | 2018-06-05 | 南京天创电子技术有限公司 | A kind of crawler type driving mechanism of photovoltaic sweeping robot |
-
2017
- 2017-09-22 CN CN201710865005.4A patent/CN107487393A/en active Pending
Patent Citations (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101181911A (en) * | 2007-12-13 | 2008-05-21 | 南京航空航天大学 | Combined type obstacle crossing walking system |
| JP2013244896A (en) * | 2012-05-28 | 2013-12-09 | Hitachi-Ge Nuclear Energy Ltd | Crawler type moving mechanism, and traveling type robot provided with crawler type moving mechanism |
| CN204071964U (en) * | 2014-09-19 | 2015-01-07 | 天津海欣联华机械设备设计有限公司 | All-direction multi-functional clean robot |
| CN104607400A (en) * | 2015-01-05 | 2015-05-13 | 北京天诚同创电气有限公司 | Cleaning and scanning device and cleaning method for photovoltaic cell panel |
| CN204866637U (en) * | 2015-07-28 | 2015-12-16 | 张意铃 | Photovoltaic module cleaning device and transmission structure thereof |
| CN105057246A (en) * | 2015-08-20 | 2015-11-18 | 北京天诚同创电气有限公司 | Cleaning device |
| CN105414069A (en) * | 2015-12-09 | 2016-03-23 | 北京天诚同创电气有限公司 | Cleaning device |
| CN205381323U (en) * | 2015-12-24 | 2016-07-13 | 重庆太初新能源有限公司 | Large -scale ground light lies prostrate clean system in power station bearing wheel subassembly |
| CN105964581A (en) * | 2016-06-01 | 2016-09-28 | 王志文 | Solar photovoltaic panel automatic cleaning robot |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107985433A (en) * | 2017-12-28 | 2018-05-04 | 盛琳芫 | A kind of road guard electric rail vehicle |
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| PB01 | Publication | ||
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Application publication date: 20171219 |