CN110153063A - A kind of bridge type is worked continuously photovoltaic clean robot - Google Patents
A kind of bridge type is worked continuously photovoltaic clean robot Download PDFInfo
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- CN110153063A CN110153063A CN201910493408.XA CN201910493408A CN110153063A CN 110153063 A CN110153063 A CN 110153063A CN 201910493408 A CN201910493408 A CN 201910493408A CN 110153063 A CN110153063 A CN 110153063A
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- 230000005540 biological transmission Effects 0.000 claims abstract description 9
- 239000002184 metal Substances 0.000 claims description 45
- 229910052751 metal Inorganic materials 0.000 claims description 45
- 238000001514 detection method Methods 0.000 claims description 43
- 230000033001 locomotion Effects 0.000 claims description 10
- 239000007787 solid Substances 0.000 claims description 8
- 238000007689 inspection Methods 0.000 claims description 3
- 238000004140 cleaning Methods 0.000 abstract description 11
- 238000010248 power generation Methods 0.000 abstract description 6
- 238000010586 diagram Methods 0.000 description 6
- 230000000694 effects Effects 0.000 description 3
- PCHJSUWPFVWCPO-UHFFFAOYSA-N gold Chemical compound [Au] PCHJSUWPFVWCPO-UHFFFAOYSA-N 0.000 description 3
- 239000010931 gold Substances 0.000 description 3
- 229910052737 gold Inorganic materials 0.000 description 3
- 238000012986 modification Methods 0.000 description 3
- 230000004048 modification Effects 0.000 description 3
- 230000009194 climbing Effects 0.000 description 2
- 238000004891 communication Methods 0.000 description 2
- 238000011161 development Methods 0.000 description 2
- 239000000428 dust Substances 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 238000009434 installation Methods 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 238000013517 stratification Methods 0.000 description 2
- 238000005452 bending Methods 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 238000000354 decomposition reaction Methods 0.000 description 1
- 230000007423 decrease Effects 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 230000007613 environmental effect Effects 0.000 description 1
- 239000000284 extract Substances 0.000 description 1
- 238000012797 qualification Methods 0.000 description 1
- 230000004044 response 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
- B08B1/30—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
- 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
-
- 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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- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
It works continuously photovoltaic clean robot the embodiment of the invention discloses a kind of bridge type, including robot body, robot body includes chassis and the shell that is arranged on chassis, running gear is provided on chassis, running gear includes crawler unit and pedipulator running gear, fixed frame is provided on chassis, the shell is arranged on the fixed frame and is fixedly connected with the chassis, crawler unit includes crawler belt and the driving motor that connect with crawler belt, pedipulator running gear includes the first fixed bracket, second fixed bracket, third fixes bracket, first connecting rod and second connecting rod, quadrangle inside fixed frame is respectively arranged with pedipulator running gear；Master control borad, radio transmission apparatus, power module, radiator fan and steering engine power supply control circuit board are additionally provided in the fixed frame.The present invention can be realized the automatic gap bridge between the photovoltaic array of photo-voltaic power generation station and work continuously mode, improve the degree of automation, reduce human cost, improve cleaning efficiency.
Description
Technical field
The present embodiments relate to clean robot technical fields, and in particular to a kind of bridge type is worked continuously photovoltaic cleaning
Robot.
Background technique
The sustainable development and the feature of environmental protection of solar power generation make it become optimal renewable energy technologies it
One, wherein again based on photovoltaic power generation, and photovoltaic dust stratification effect is the greatest problem that photovoltaic power generation encounters in scale application
One of, larger photovoltaic plant establishes, rainwater few region long in the sunshine-duration mostly, in the case where not cleaning for a long time,
Generated energy will decline 20%-30%, cause a large amount of economic losses.Therefore, how economically to solve the problems, such as dust stratification at
One key task of photovoltaic industry development.
There are 0.5 meter to 30 meters or so of distances between photovoltaic array, and the small-sized automatic cleaning equipment of industry usually can not at present
Across, or be laid with track on ground and pick equipment realization carrying by one.The method of track is laid with by landform, environment on ground
Constraint have significant ASIC limitation, and higher cost, after having cleaned one piece of photovoltaic array, need backtracking to picking at equipment,
Cleaning efficiency is low.In response to this, our the photovoltaic panel highest points between array build a width only 0.5 meter have it is appropriate strong
The metal connecting plate of degree, photovoltaic power generation array is connected, and by controlling the movement of four pedipulators, realizes robot from even
One end walking of fishplate bar realizes that the big spacing of photovoltaic array is crossed over to the other end, and then continues clean function.
Summary of the invention
It works continuously photovoltaic clean robot, can be realized extensive for this purpose, the embodiment of the present invention provides a kind of bridge type
Automatic gap bridge between the photovoltaic array of photo-voltaic power generation station is worked continuously mode, and the adaptability to complex environment is increased, improve from
Dynamicization degree reduces human cost, improves cleaning efficiency.
To achieve the goals above, the embodiment of the present invention provides the following technical solutions:
The embodiment of the present invention provides a kind of bridge type and works continuously photovoltaic clean robot, including robot body, described
Robot body includes chassis and the shell that is arranged on the chassis, is provided with running gear, the light on the chassis
Volt clean robot is worked continuously by running gear progress bridge type, the running gear include crawler unit with
And pedipulator running gear, be provided with fixed frame on the chassis, the shell be arranged on the fixed frame and with institute
Chassis is stated to be fixedly connected, in which:
The crawler unit includes crawler belt and the driving motor that connect with crawler belt, wherein the crawler belt includes a left side
It takes turns crawler belt and right wheel crawler belt, the driving motor includes revolver driving motor and right wheel driving motor, the revolver crawler belt is set
It sets in the left side of the tray bottom, and the revolver crawler belt is moved by the driving of the revolver driving motor, it is described
The right side of the tray bottom is arranged in right wheel crawler belt, and the right wheel crawler belt is carried out by the driving of the right wheel driving motor
It is mobile；
Quadrangle inside the fixed frame is respectively arranged with the pedipulator running gear；It is also set in the fixed frame
It is equipped with master control borad, radio transmission apparatus, power module, radiator fan and steering engine power supply control circuit board, the wireless transmission
Equipment, power module, radiator fan and steering engine power supply control circuit board are electrically connected with the master control borad respectively, and the revolver drives
Dynamic motor and right wheel driving motor are electrically connected with steering engine power supply control circuit board respectively.
Further, the external quadrangle of the fixed frame is respectively arranged with the pedipulator running gear, and the machine
Tool leg running gear includes the first fixed bracket, the second fixed bracket, the fixed bracket of third, first connecting rod and second connecting rod,
It is arranged on the inner sidewall of the fixed frame on described first fixed bracket by the first fixed plate, and the described first fixed branch
The first steering engine is provided on frame, the end of the first drive shaft of first steering engine is provided with the first steering wheel, first steering wheel
It is fixed on the described second fixed bracket, the described second fixed bracket is fixedly connected with the fixed bracket of the third, and institute
It states and is provided with the second steering engine on the fixed bracket of third, the end of the second drive shaft of second steering engine is provided with the second steering wheel,
Second steering wheel is fixed at one end of the first connecting rod, and the other end of the first connecting rod passes through third steering engine and institute
One end rotation connection of second connecting rod is stated, the other end of the second connecting rod is rotatably connected to sucker by the 4th steering engine；It is described
First steering engine, the second steering engine, third steering engine and the 4th steering engine are electrically connected with the master control borad respectively.
Further, the described first fixed bracket includes the first support plate and the second fixed plate, second fixed plate
It is vertically set on one end of first support plate, and first fixed plate is vertically set on the another of first support plate
End, first steering engine is fixed in first support plate, and the end of the first drive shaft of first steering engine is passed through
Consolidate after wearing the first through hole being arranged in first support plate with the first steering wheel being fixed on the described second fixed bracket
Fixed connection, first steering engine drive the described second fixed bracket rotation by the cooperation of the first drive shaft and first steering wheel
Transhipment is dynamic.
Further, the second support plate and third fixed plate that the second fixed bracket includes, first rudder
Disk is fixed at one end in second support plate, and the third fixed plate is vertically set on the another of second support plate
One end.
Further, the fixed bracket of the third includes third support plate, connecting plate and the 4th fixed plate, and described second
Steering engine is fixed in the third support plate, and the third support plate and the 4th fixed plate are vertically disposed on institute
The both ends of connecting plate are stated, the third fixed plate is arranged in parallel and is fixedly connected with the 4th fixed plate, and the of second steering engine
After the second through-hole that the end of two drive shafts is arranged in the third support plate and it is fixed on the first connecting rod
Second steering wheel of one end is fixedly connected, and second steering engine drives under the cooperation by second drive shaft and second steering wheel
Move the first connecting rod rotary motion.
Further, the third steering engine is fixed at one end on the second connecting rod, and the of the third steering engine
After the third through-hole that three drive shafts are arranged on the second connecting rod be fixed at the of the first connecting rod other end
Three steering wheels are fixedly connected, and the third steering engine drives described under the cooperation by the third drive shaft and the third steering wheel
Two connecting rod rotary motions.
Further, the 4th steering engine is fixed at the other end on the second connecting rod, the 4th steering engine
It is fixedly connected after the fourth hole that 4th drive shaft is arranged on the second connecting rod with the 4th steering wheel, the 4th steering wheel is solid
It is arranged on one end of the 5th fixed plate calmly, the other end of the 5th fixed plate is fixed by the 6th fixed plate with the sucker
Connection, the 5th fixed plate are vertically arranged with the 6th fixed plate, and the sucker is fixed at the described 6th and fixes
Side of the plate far from the 5th fixed plate.
Further, metal detection sensor component, the metal detection sensor component packet are provided on the chassis
The first metal detection sensor, the second metal detection sensor, third metal detection sensor and the 4th metal detection is included to pass
Sensor, in which: the left side on the chassis, second metal detection sensor is arranged in first metal detection sensor
Front side on the chassis is set, and the right side on the chassis, and described is arranged in the third metal detection sensor
The rear side on the chassis is arranged in four metal detection sensors.
Further, first metal detection sensor is fixed at the lateral wall of the chassis upper left side fixed plate
On, second metal detection sensor is fixed on the chassis on the inner sidewall of anterior planting, the third gold
Belong to detection sensor to be fixed on the chassis on the lateral wall of right side fixed plate, the 4th metal inspection sensor is fixed
It is arranged on the chassis on the lateral wall of rear side fixed plate.
Further, the inside quadrangle of the fixed frame is respectively arranged with the pedipulator running gear, and the machine
Tool leg running gear includes the 4th fixed bracket, third connecting rod and fourth link, and the described 4th fixed bracket includes the 7th solid
Fixed board and the 8th fixed plate, one end of the 7th fixed plate are vertically set on one end of the 8th fixed plate, and described
The upper surface of the fixed frame is arranged in by the 7th fixed plate for four fixed brackets, is provided with the 5th in the 8th fixed plate
Steering engine, the end of the 5th drive shaft of the 5th steering engine are provided with the 5th steering wheel, and the 5th steering wheel is fixed at described
The other end of one end of third connecting rod, the third connecting rod is rotatablely connected by one end of the 6th steering engine and the fourth link,
The other end of the fourth link is rotatably connected to sucker, the 5th steering engine, the 6th steering engine and the 7th by the 7th steering engine
Steering engine is electrically connected with the master control borad respectively.
The embodiment of the present invention has the advantages that due to increasing by the way of bridge type continuous work and structure
To the adaptability of complex environment, complete autonomous traveling is realized, human cost is reduced, maintains stable cleaning effect, clean
Efficiency greatly promotes.
Detailed description of the invention
It, below will be to embodiment party in order to illustrate more clearly of embodiments of the present invention or technical solution in the prior art
Formula or attached drawing needed to be used in the description of the prior art are briefly described.It should be evident that the accompanying drawings in the following description is only
It is merely exemplary, it for those of ordinary skill in the art, without creative efforts, can also basis
The attached drawing of offer, which is extended, obtains other implementation attached drawings.
Structure depicted in this specification, ratio, size etc., only to cooperate the revealed content of specification, for
Those skilled in the art understands and reads, and is not intended to limit the invention enforceable qualifications, therefore does not have technical
Essential meaning, the modification of any structure, the change of proportionate relationship or the adjustment of size are not influencing the function of the invention that can be generated
Under effect and the purpose that can reach, should all still it fall in the range of disclosed technology contents obtain and can cover.
Fig. 1 is that a kind of bridge type that provides of the embodiment of the present invention 1 is worked continuously the solid on chassis in photovoltaic clean robot
Structural schematic diagram.
Fig. 2 is that a kind of bridge type that provides of the embodiment of the present invention 1 is worked continuously the vertical view on chassis in photovoltaic clean robot
Structural schematic diagram.
Fig. 3 be a kind of bridge type that provides of the embodiment of the present invention 1 work continuously in photovoltaic clean robot fixed frame with
A kind of schematic perspective view that pedipulator running gear matches.
Fig. 4 be a kind of bridge type that provides of the embodiment of the present invention 1 work continuously in photovoltaic clean robot fixed frame with
Another schematic perspective view that pedipulator running gear matches.
Fig. 5 is that a kind of bridge type that provides of the embodiment of the present invention 1 is worked continuously pedipulator walking in photovoltaic clean robot
The schematic perspective view of device.
Fig. 6 is that a kind of bridge type that provides of the embodiment of the present invention 1 is worked continuously pedipulator walking in photovoltaic clean robot
The schematic view of the front view of device.
Fig. 7 is that a kind of bridge type that provides of the embodiment of the present invention 1 is worked continuously pedipulator walking in photovoltaic clean robot
The overlooking structure diagram of device.
Fig. 8 is that a kind of bridge type that provides of the embodiment of the present invention 1 is worked continuously fixed frame in photovoltaic clean robot
Schematic perspective view.
Fig. 9 is that a kind of bridge type provided in an embodiment of the present invention photovoltaic clean robot of working continuously passes through crawler travel dress
Set the schematic diagram walked.
Figure 10 is that a kind of bridge type provided in an embodiment of the present invention photovoltaic clean robot of working continuously passes through pedipulator row
The schematic diagram that walking apparatus is walked.
Figure 11 is that a kind of bridge type that provides of the embodiment of the present invention 2 is worked continuously pedipulator walking in photovoltaic clean robot
The decomposition texture schematic diagram of device.
Figure 12 is that a kind of bridge type that provides of the embodiment of the present invention 2 is worked continuously pedipulator walking in photovoltaic clean robot
The schematic perspective view of device.
Figure 13 is that a kind of bridge type of the embodiment of the present invention 2 is worked continuously in photovoltaic clean robot fixed frame and mechanical
A kind of schematic perspective view that leg running gear matches.
In figure: 100 robot bodies；101, chassis；102, the first locating slot；103, the second locating slot；104, fixed frame
Frame；106, revolver crawler belt；107, right wheel crawler belt；108, first connecting rod；109, second connecting rod；110, the first fixed plate；111,
One steering engine；1111, the first steering wheel；112, the second steering engine；1120, the second drive shaft；1121, the second steering wheel；113, third steering engine；
1130, third drive shaft；1131, third steering wheel；114, the first metal detection sensor；115, the second metal detection sensor；
116, third metal detection sensor；117, the 4th metal detection sensor；118, left side fixed plate；119, anterior planting；
120, right side fixed plate；121, rear side fixed plate；122, the 4th steering engine；1220, the 4th drive shaft；1221, the 4th steering wheel；123,
Sucker；124, left driving wheel；125, right driving wheel；126, the first support plate；127, the second fixed plate；128, the second support plate；
129, third fixed plate；130, third support plate；131, connecting plate；132, the 4th fixed plate；133, the 5th fixed plate；134,
Six fixed plates；135, clearing apparatus；136, the 7th fixed plate；137, the 8th fixed plate；138, the 5th steering engine；1381, the 5th rudder
Disk；1382, the 5th drive shaft；139, third connecting rod；140, fourth link；142, the 6th steering engine；1421, the 6th steering wheel；1422,
6th drive shaft；143, the 7th steering engine；1431, the 7th steering wheel；1432, the 7th drive shaft；144, the 9th fixed plate.
Specific embodiment
Embodiments of the present invention are illustrated by particular specific embodiment below, those skilled in the art can be by this explanation
Content disclosed by book is understood other advantages and efficacy of the present invention easily, it is clear that described embodiment is the present invention one
Section Example, instead of all the embodiments.Based on the embodiments of the present invention, those of ordinary skill in the art are not doing
Every other embodiment obtained under the premise of creative work out, shall fall within the protection scope of the present invention.
Embodiment 1
As shown in Figures 1 to 10, a kind of bridge type provided for the embodiment of the present invention 1 photovoltaic of working continuously cleans machine
People, including robot body 100, the robot body 100 include chassis 101 and the shell being arranged on the chassis 101
Body (not shown), running gear is provided on the chassis 101, and the photovoltaic clean robot passes through the running gear
It carries out bridge type to work continuously, the running gear includes crawler unit and pedipulator running gear, the chassis 101
On be provided with fixed frame 104, the shell is arranged on the fixed frame 104 and is fixedly connected with the chassis 101,
In:
The crawler unit includes crawler belt and the driving motor that connect with crawler belt, wherein the crawler belt includes a left side
Crawler belt 106 and right wheel crawler belt 107 are taken turns, the driving motor includes revolver driving motor (not shown) and right wheel driving electricity
Machine (not shown), the left side of 101 bottom of chassis is arranged in the revolver crawler belt 106, and the revolver crawler belt 106 is logical
The driving for crossing the revolver driving motor is moved, and the right side of 101 bottom of chassis is arranged in the right wheel crawler belt 107,
And the right wheel crawler belt 107 is moved by the driving of the right wheel driving motor；
The pedipulator running gear includes the first fixed bracket, the second fixed bracket, third fixed bracket, first connecting rod
108 and second connecting rod 109, the fixed frame 104 is arranged in by the first fixed plate 110 on the described first fixed bracket
On inner sidewall, and the first steering engine 111 is provided on the described first fixed bracket, the first drive shaft (figure of first steering engine 111
In be not shown) end be provided with the first steering wheel 1111, first steering wheel 1111 is fixed at the described second fixed bracket
On, the described second fixed bracket is fixedly connected with the fixed bracket of the third, and is provided with second on the fixed bracket of the third
Steering engine 112, the end of the second drive shaft 1120 of second steering engine 112 are provided with the second steering wheel 1121, second steering wheel
1121 are fixed at one end of the first connecting rod 108, the other end of the first connecting rod 108 by third steering engine 113 with
One end of the second connecting rod 109 is rotatablely connected, and the other end of the second connecting rod 109 is rotatablely connected by the 4th steering engine 122
There is sucker 123；
Quadrangle outside the fixed frame 104 is respectively arranged with the pedipulator running gear；The fixed frame 104
Inside it is additionally provided with master control borad 1051, radio transmission apparatus 1052, power module 1053, radiator fan 1054 and steering engine power supply control
Circuit board 1055 processed, wherein the radio transmission apparatus 1052, power module 1053, radiator fan 1054 and steering engine power supply
Control circuit board 1055 is electrically connected with the master control borad 1051 respectively, the revolver driving motor and right wheel driving motor respectively with
Steering engine power supply control circuit board 1055 is electrically connected, first steering engine 111, the second steering engine 112, third steering engine 113 and
4th steering engine 122 is electrically connected with the master control borad 1051 respectively.Wherein, master control borad 1051: it is the control core of photovoltaic robot
The heart takes charge and controls each component work；Radio transmission apparatus 1052: it is used to turn the related serial data of master control borad 1051
Being changed to IP data, network is sent to cloud by wireless communication, and by wireless communication by the control instruction IP data of cloud publication
Transmission of network is converted to serial data and reads for master control borad 1051, makes corresponding control；Power module 1053: it is photovoltaic
Clean robot operation provides energy；Radiator fan 1054: it generates the power component inside photovoltaic clean robot
Heat discharge；Steering engine power supply controls circuit board 1055: it is the first steering engine 111, the second steering engine 112, third steering engine 113 and the
Four steering engines provide stable working power and provide and the steering engine of master control borad 1051 control switching interface.
A kind of bridge type that the embodiment of the present invention 1 provides is worked continuously photovoltaic clean robot, and the revolver crawler belt 106 is pacified
102 in the first locating slot of 101 upper left side of chassis setting, the right wheel crawler belt 107 is mounted on right side setting on chassis 101
The second locating slot 103 in.Specifically, the revolver crawler belt 106 is moved under the driving of left driving wheel 124, the right side
Wheel crawler belt 107 is moved under the driving of right wheel driving wheel 125.
A kind of bridge type that the embodiment of the present invention 1 provides is worked continuously photovoltaic clean robot, the described first fixed bracket
Including the first support plate 126 and the second fixed plate 127, second fixed plate 127 is vertically set on first support plate
126 one end, and first fixed plate 110 is vertically set on the other end of first support plate 126, first steering engine
111 are fixed in first support plate 126, and the end of the first drive shaft of first steering engine 111 is through described
After the first through hole (not shown) being arranged in first support plate 126 be fixed on the described second fixed bracket the
One steering wheel 1111 is fixedly connected, and first steering engine 111 is by the cooperation of the first drive shaft and first steering wheel 1111 to drive
Move the described second fixed bracket rotary motion.
A kind of bridge type that the embodiment of the present invention 1 provides is worked continuously photovoltaic clean robot, the described second fixed branch
The second support plate 128 and third fixed plate 129 that frame includes
First steering wheel 1111 is fixed at one end in second support plate 128, the third fixed plate 129
It is vertically set on the other end of second support plate 128.
A kind of bridge type that the embodiment of the present invention 1 provides is worked continuously photovoltaic clean robot, the fixed bracket of the third
Including third support plate 130, connecting plate 131 and the 4th fixed plate 132, second steering engine 112 is fixed at described
In three support plates 130, the third support plate 130 and the 4th fixed plate 132 are vertically disposed on the connecting plate 131
Both ends, and be located at the same side of the connecting plate 131, the third fixed plate 129 and the 4th fixed plate 132 be arranged in parallel and
Be fixedly connected, the end of the second drive shaft 1120 of second steering engine 112 be arranged in the third support plate 130 the
It is fixedly connected after two through-hole (not shown)s with the second steering wheel 1121 for being fixed at one end on the first connecting rod 108,
Second steering engine 112 drives described first to connect under the cooperation by second drive shaft 1120 and second steering wheel 1121
108 rotary motion of bar.
A kind of bridge type that the embodiment of the present invention 1 provides is worked continuously photovoltaic clean robot, and the third steering engine 113 is solid
One end on the second connecting rod 109 is set calmly, and the third drive shaft 1130 of the third steering engine 113 connects through described second
After the third through-hole (not shown) being arranged on bar 109 be fixed at the third rudder of 108 other end of first connecting rod
Disk 1131 is fixedly connected, the cooperation that the third steering engine 113 passes through the third drive shaft 1130 and the third steering wheel 1131
Lower driving 109 rotary motion of second connecting rod.
A kind of bridge type that the embodiment of the present invention provides 1 is worked continuously photovoltaic clean robot, and the 4th steering engine 122 is solid
The other end on the second connecting rod 109 is set calmly, and the 4th drive shaft 1220 of the 4th steering engine 122 runs through described second
It is fixedly connected after the fourth hole (not shown) being arranged on connecting rod 109 with the 4th steering wheel 1221, the 4th steering wheel 1221
Be fixed on one end of the 5th fixed plate 133, the other end of the 5th fixed plate 133 by the 6th fixed plate 134 with
The sucker 123 is fixedly connected, and the 5th fixed plate 133 is vertically arranged with the 6th fixed plate 134, and the sucker
123 are fixed at the side of the 6th fixed plate 134 far from the 5th fixed plate 133.
A kind of bridge type that the embodiment of the present invention 1 provides is worked continuously photovoltaic clean robot, is arranged on the chassis 101
There is metal detection sensor component, the metal detection sensor component includes the first metal detection sensor 114, the second metal
Detection sensor 115, third metal detection sensor 116 and the 4th metal detection sensor 117, in which: first gold medal
Belong to detection sensor 114 and the left side on the chassis 101 is set, second metal detection sensor 115 is arranged described
The right side on the chassis, and the 4th gold medal is arranged in front side on chassis 101, the third metal detection sensor 116
Belong to detection sensor 117 and the rear side on the chassis 101 is set.
A kind of bridge type that the embodiment of the present invention 1 provides is worked continuously photovoltaic clean robot, first metal detection
Sensor 114 is fixed on the lateral wall of the 101 upper left side fixed plate 118 of chassis, the second metal detection sensing
Device 115 is fixed on the chassis 101 on the inner sidewall of anterior planting 119, the third metal detection sensor 116
It is fixed on the chassis 101 on the lateral wall of right side fixed plate 120, the 4th metal inspection fixation of sensor 117 is set
It sets on the chassis 101 on the lateral wall of rear side fixed plate 121.
A kind of bridge type provided in an embodiment of the present invention is worked continuously photovoltaic clean robot, and on the chassis 101 front side
Clearing apparatus 135 is provided on the lateral wall of fixed plate 119, the clearing apparatus 135 is used for for cleaning to photovoltaic panel；
The clearing apparatus 135 is the prior art, and in this not go into detail.
A kind of bridge type provided in an embodiment of the present invention is worked continuously photovoltaic clean robot, the robot body 100
After first being completed on one piece of photovoltaic array by cleaning route cleaning with the mode of crawler travel, it will arrive at photovoltaic array and bridge
Junction, steering engine controls four pedipulators and starts to work, trolley is supported, the crawler belt row of the robot body 100
The mode of sailing is converted to pedipulator walking manner, obtains the current angle of chamfer according to the gyroscope sensor data of robot body 100
Degree, control steering engine rotate corresponding angle, pedipulator are made to make the movement of climbing bridge, and four pedipulators successively stride forward, and one
When pedipulator steps, in addition the vacuum pump work of three pedipulators, extracts air in sole sucker out, is adsorbed on sucker firmly
It stops over plane, robot goes on bridge floor after pedipulator repeatedly acts, and pedipulator bending declines fuselage, crawler belt is made to fit to ground
On, pedipulator is packed up, and pedipulator walking manner is reconverted into trolley crawler belt driving mode, is allowed according to the data of metal sensor small
Vehicle automatic running obtains the tilt angle of photovoltaic panel under bridge after reaching lower bridge point by visiting bridge again, then is arrived by pedipulator climbing
Photovoltaic panel continues starting new photovoltaic array cleaning, realizes that bridge type is worked continuously.
Embodiment 2
As shown in Figure 11 to 13, a kind of bridge type provided for the embodiment of the present invention 2 is worked continuously photovoltaic clean robot,
Difference with embodiment 1 is: the inside quadrangle of the fixed frame 104 is respectively arranged with the pedipulator running gear, i.e. bottom
Disk 101 and fixed frame 104 are provided with corresponding installation region (not shown), the quadrangle difference of the installation region
It is provided with the pedipulator running gear.
The pedipulator running gear includes the 4th fixed bracket, third connecting rod 139 and fourth link 140, and described the
Four fixed brackets include the 7th fixed plate 136 and the 8th fixed plate 137, and one end of the 7th fixed plate 136 is vertically set on
One end of 8th fixed plate 137, and the described 4th fixed bracket is arranged by the 7th fixed plate 136 in the fixed frame
104 upper surface is provided with the 5th steering engine 138, the 5th drive shaft of the 5th steering engine 138 in the 8th fixed plate 137
1382 end is provided with the 5th steering wheel 1381, and the 5th steering wheel 1381 is fixed at one end of the third connecting rod 139,
The other end of the third connecting rod 139 is rotatablely connected by the 6th steering engine 142 and one end of the fourth link 140, and described the
6th drive shaft 1422 of six steering engines 142 is through the third connecting rod 139 and end is provided with the 6th steering wheel 1421, while described
6th steering wheel 1421 is fixedly connected with the third connecting rod 139；The other end of the fourth link 140 passes through the 7th steering engine 143
It is rotatably connected to sucker 123, the 7th drive shaft 1432 of the 7th steering engine 143 is through the fourth link 140 and end is set
It is equipped with the 7th steering wheel 1431, while the 7th steering wheel 1431 is fixedly connected with the 9th fixed plate 144, the 9th fixed plate
144 end is fixedly installed sucker 123；5th steering engine 138, the 6th steering engine 142 and the 7th steering engine 143 respectively with institute
State master control borad electrical connection.
Although above having used general explanation and specific embodiment, the present invention is described in detail, at this
On the basis of invention, it can be made some modifications or improvements, this will be apparent to those skilled in the art.Therefore,
These modifications or improvements without departing from theon the basis of the spirit of the present invention are fallen within the scope of the claimed invention.
Claims (10)
- The photovoltaic clean robot 1. a kind of bridge type is worked continuously, which is characterized in that including robot body, the robot sheet Body includes chassis and the shell that is arranged on the chassis, is provided with running gear, the photovoltaic cleaner on the chassis Device people carries out bridge type by the running gear and works continuously, and the running gear includes crawler unit and pedipulator Running gear, is provided with fixed frame on the chassis, and the shell is arranged on the fixed frame and solid with the chassis Fixed connection, in which:The crawler unit includes crawler belt and the driving motor that connect with crawler belt, wherein the crawler belt includes that revolver is carried out Band and right wheel crawler belt, the driving motor include revolver driving motor and right wheel driving motor, and the revolver crawler belt setting exists The left side of the tray bottom, and the revolver crawler belt is moved by the driving of the revolver driving motor, the right wheel The right side of the tray bottom is arranged in crawler belt, and the right wheel crawler belt is moved by the driving of the right wheel driving motor It is dynamic；The quadrangle of the fixed frame is respectively arranged with the pedipulator running gear；Master control is additionally provided in the fixed frame Plate, radio transmission apparatus, power module, radiator fan and steering engine power supply control circuit board, the radio transmission apparatus, power supply Module, radiator fan and steering engine power supply control circuit board be electrically connected respectively with the master control borad, the revolver driving motor with Right wheel driving motor is electrically connected with steering engine power supply control circuit board respectively.
- The photovoltaic clean robot 2. bridge type according to claim 1 is worked continuously, which is characterized in that the fixed frame External quadrangle be respectively arranged with the pedipulator running gear, and the pedipulator running gear include the first fixed bracket, Second fixed bracket, third fix bracket, first connecting rod and second connecting rod, fix on the described first fixed bracket by first Plate is arranged on the inner sidewall of the fixed frame, and is provided with the first steering engine, first rudder on the described first fixed bracket The end of first drive shaft of machine is provided with the first steering wheel, and first steering wheel is fixed on the described second fixed bracket, Described second fixed bracket is fixedly connected with the fixed bracket of the third, and is provided with the second rudder on the fixed bracket of the third Machine, the end of the second drive shaft of second steering engine are provided with the second steering wheel, and second steering wheel is fixed at described The other end of one end of one connecting rod, the first connecting rod is rotatablely connected by one end of third steering engine and the second connecting rod, institute The other end for stating second connecting rod is rotatably connected to sucker by the 4th steering engine；First steering engine, the second steering engine, third steering engine with And the 4th steering engine be electrically connected respectively with the master control borad.
- The photovoltaic clean robot 3. bridge type according to claim 2 is worked continuously, which is characterized in that described first is fixed Bracket includes the first support plate and the second fixed plate, and second fixed plate is vertically set on the one of first support plate End, and first fixed plate is vertically set on the other end of first support plate, first steering engine is fixed at institute It states in the first support plate, and first be arranged in first support plate is run through in the end of the first drive shaft of first steering engine It is fixedly connected after through-hole with the first steering wheel being fixed on the described second fixed bracket, first steering engine drives by first The cooperation of moving axis and first steering wheel is to drive the described second fixed bracket rotary motion.
- The photovoltaic clean robot 4. bridge type according to claim 3 is worked continuously, which is characterized in that described second is solid The second support plate and third fixed plate that fixed rack includes, first steering wheel are fixed in second support plate One end, the third fixed plate are vertically set on the other end of second support plate.
- The photovoltaic clean robot 5. bridge type according to claim 4 is worked continuously, which is characterized in that the third is fixed Bracket includes third support plate, connecting plate and the 4th fixed plate, and second steering engine is fixed at the third support plate On, the third support plate and the 4th fixed plate are vertically disposed on the both ends of the connecting plate, and the third is fixed Plate and the 4th fixed plate are arranged in parallel and are fixedly connected, and the third branch is run through in the end of the second drive shaft of second steering engine It is fixedly connected after the second through-hole being arranged on fagging with the second steering wheel for being fixed at one end on the first connecting rod, described Two steering engines drive the first connecting rod rotary motion under the cooperation by second drive shaft and second steering wheel.
- The photovoltaic clean robot 6. bridge type according to claim 5 is worked continuously, which is characterized in that the third steering engine It is fixed at one end on the second connecting rod, the third drive shaft of the third steering engine is arranged on the second connecting rod Third through-hole after be fixedly connected with the third steering wheel for being fixed at the first connecting rod other end, the third steering engine passes through The second connecting rod rotary motion is driven under the cooperation of the third drive shaft and the third steering wheel.
- The photovoltaic clean robot 7. bridge type according to claim 6 is worked continuously, which is characterized in that the 4th steering engine 4th drive shaft of the other end being fixed on the second connecting rod, the 4th steering engine is set on the second connecting rod It is fixedly connected after the fourth hole set with the 4th steering wheel, the 4th steering wheel is fixed on one end of the 5th fixed plate, institute The other end for stating the 5th fixed plate is fixedly connected by the 6th fixed plate with the sucker, the 5th fixed plate and the described 6th Fixed plate is vertically arranged, and the sucker is fixed at the side of the 6th fixed plate far from the 5th fixed plate.
- The photovoltaic clean robot 8. bridge type according to claim 1 is worked continuously, which is characterized in that set on the chassis It is equipped with metal detection sensor component, the metal detection sensor component includes the first metal detection sensor, the second metal Detection sensor, third metal detection sensor and the 4th metal detection sensor, in which:The left side on the chassis is arranged in first metal detection sensor, and the second metal detection sensor setting exists The right side on the chassis, and the 4th metal is arranged in front side on the chassis, the third metal detection sensor The rear side on the chassis is arranged in detection sensor.
- The photovoltaic clean robot 9. bridge type according to claim 8 is worked continuously, which is characterized in that first metal Detection sensor is fixed on the lateral wall of the chassis upper left side fixed plate, and second metal detection sensor is fixed It is arranged on the chassis on the inner sidewall of anterior planting, the third metal detection sensor is fixed at the chassis On the lateral wall of upper right side fixed plate, the 4th metal inspection sensor is fixed at the outer of rear side fixed plate on the chassis On side wall.
- The photovoltaic clean robot 10. bridge type according to claim 2 is worked continuously, which is characterized in that the fixed frame The inside quadrangle of frame is respectively arranged with the pedipulator running gear, and the pedipulator running gear includes the 4th fixed branch Frame, third connecting rod and fourth link, the described 4th fixed bracket includes the 7th fixed plate and the 8th fixed plate, and the described 7th is solid One end of fixed board is vertically set on one end of the 8th fixed plate, and the described 4th fixed bracket is arranged by the 7th fixed plate The 5th steering engine, the 5th driving of the 5th steering engine are provided on the upper surface of the fixed frame, the 8th fixed plate The end of axis is provided with the 5th steering wheel, and the 5th steering wheel is fixed at one end of the third connecting rod, the third connecting rod The other end be rotatablely connected by one end of the 6th steering engine and the fourth link, the other end of the fourth link passes through the 7th Steering engine is rotatably connected to sucker, and the 5th steering engine, the 6th steering engine and the 7th steering engine are electrically connected with the master control borad respectively.
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| CN201910493408.XA CN110153063B (en) | 2019-06-06 | 2019-06-06 | Gap bridge type continuous operation photovoltaic cleaning robot |
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| CN201910493408.XA CN110153063B (en) | 2019-06-06 | 2019-06-06 | Gap bridge type continuous operation photovoltaic cleaning robot |
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| CN110153063B CN110153063B (en) | 2020-10-16 |
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN110860544A (en) * | 2019-11-22 | 2020-03-06 | 深圳怪虫机器人有限公司 | Bridge type continuity of operation's photovoltaic cleaning machines people is crossed to biped |
| CN110882969A (en) * | 2019-11-22 | 2020-03-17 | 深圳怪虫机器人有限公司 | Photovoltaic cleaning robot capable of automatically walking along bridge floor |
| CN110882968A (en) * | 2019-11-22 | 2020-03-17 | 深圳怪虫机器人有限公司 | Photovoltaic cleaning robot |
| CN110882971A (en) * | 2019-11-22 | 2020-03-17 | 深圳怪虫机器人有限公司 | Photovoltaic cleaning robot with distributed adsorption assembly |
| CN110882967A (en) * | 2019-11-22 | 2020-03-17 | 深圳怪虫机器人有限公司 | Photovoltaic cleaning robot of continuity of operation |
| CN111348116A (en) * | 2019-11-22 | 2020-06-30 | 深圳怪虫机器人有限公司 | Bridge type continuity of operation's photovoltaic cleaning machines people is crossed to tripodia |
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| CN110860544A (en) * | 2019-11-22 | 2020-03-06 | 深圳怪虫机器人有限公司 | Bridge type continuity of operation's photovoltaic cleaning machines people is crossed to biped |
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| CN110882971A (en) * | 2019-11-22 | 2020-03-17 | 深圳怪虫机器人有限公司 | Photovoltaic cleaning robot with distributed adsorption assembly |
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| CN111348116A (en) * | 2019-11-22 | 2020-06-30 | 深圳怪虫机器人有限公司 | Bridge type continuity of operation's photovoltaic cleaning machines people is crossed to tripodia |
| CN111348116B (en) * | 2019-11-22 | 2021-07-02 | 深圳怪虫机器人有限公司 | Bridge type continuity of operation's photovoltaic cleaning machines people is crossed to tripodia |
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