CN203109935U - Movement mechanism of photovoltaic module robot cleaner - Google Patents
Movement mechanism of photovoltaic module robot cleaner Download PDFInfo
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- CN203109935U CN203109935U CN 201320127502 CN201320127502U CN203109935U CN 203109935 U CN203109935 U CN 203109935U CN 201320127502 CN201320127502 CN 201320127502 CN 201320127502 U CN201320127502 U CN 201320127502U CN 203109935 U CN203109935 U CN 203109935U
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Abstract
The utility model discloses a movement mechanism of a photovoltaic module robot cleaner. The movement mechanism of the photovoltaic module robot cleaner comprises a control cable bobbin, a first gear set, a rod base, a connecting rod, a pipe support, an engine base, an engine frame, an engine frame rod, a clamping device, a border sensor, a driving wheel, a driving wheel stand, a second gear set, a driving gear shaft, a lifting motor device, a driving motor device and a driving gear. According to the movement mechanism of the photovoltaic module robot cleaner, the driving motor device drives the driving wheel and supplies transverse moving force to the driving wheel, four sets of clamping wheel stands are respectively used for clamping the front face and the back face of a photovoltaic panel to stabilize the movement mechanism, a clamping device horizontal adjusting knob and a clamping device perpendicular adjusting knob are assembled on each clamping wheel stand, and the lifting motor device drives a cleaning system to move from top to bottom. The movement mechanism of the photovoltaic module robot cleaner is simple in structure, high in operation efficiency, good in wheel type clamping degree, adjustable, and reliable in wheel type clamping.
Description
Technical field
The utility model belongs to specialized robot clean applications field, is specifically related to a kind of photovoltaic module cleaning machine robot movement mechanism.
Background technology
The research and development of present various clean robots have had history for a long time, use also quite extensive.And in recent years, developed the clean robot of many intelligence again continuously.But at the photovoltaic cleaning applications, be applicable to that the robot of cleaning photovoltaic panel still is in the starting stage, the commercial application also seldom.
The first in the world money photovoltaic module clean robot SOLARBRUSH be 1998 by Ridha Azaiz innovation and creation.The robot employing more or less that some companies afterwards release some theories and the idea of SOLARBRUSH.Ridha Azaiz has designed the robot of two suitable different demands altogether, is respectively SOLARBRUSH H and SOLARBRUSH L.SOLARBRUSH H is suitable on the bigger photovoltaic panel face in inclination angle, can be that 60 ° photovoltaic panel is moved at the inclination angle.Its adopts is that the vacuum cup technology makes and self can be adsorbed on the photovoltaic panel.And make machine self move to another piece from a photovoltaic panel based on the assembly edge detecting technology.Another SOLARBRUSH L then is more suitable for setting up the inclination angle less than 6 ° occasion.This robot is lighter and handier, 4KG only, and be furnished with wireless module.When the spacing of setting up during less than 20mm, this machine is operation smoothly per capita.Switzerland SERBOT company is the company that building surface cleaning is provided specially, and the said firm has opened many moneys clean robot for the different demand occasion of client, and wherein the serial robot of CEKKO is used for cleaning photovoltaic panel specially.Its bottom has double sucker, makes that by the sucker that replaces the robot bottom robot can walking flexibly on the photovoltaic panel of smooth and inclination.This kind of robot also has wireless remote control module in addition.Utilize the self-contained camera of robot by wireless transmission picture to be sent to remote control center, allow people's state of monitoring robot in real time.Though at present China is applied in the existing very great development of clean robot of aspects such as indoor, sewer pipe, high vacant building and glass, breakthrough just is badly in need of in the development and the research that are applied to the clean robot on photovoltaic module surface.
Summary of the invention
The purpose of this utility model is at the deficiencies in the prior art, and a kind of photovoltaic module cleaning machine robot movement mechanism is provided.
The technical scheme that its technical problem that solves the utility model adopts is as follows:
The utility model comprises handles hawser roll, first gear train, bar base, connecting rod, pipe support, car base, vehicle frame, vehicle frame bar, clamping device, edge sensor, driving wheel, driving wheel carrier, second gear train, driving wheel gear shaft, lifting motor device, drive motor means, driven wheel;
Clamping device comprises that clamping bar, clamp cap, spring block, clamping device horizontal adjusting knob, clamping device are vertically adjusted knob, clamped wheel carrier, pinch wheels.
Two ports of vehicle frame all are connected with an end of pipe support respectively by screw, and the other end of pipe support is provided with the edge sensor base, and a plurality of edge sensors are installed on the edge sensor base; Two port edges of vehicle frame lower surface all are connected with an end of vehicle frame bar, a side of vehicle frame is provided with the lifting motor device pedestal, the lifting motor device is installed on the lifting motor device pedestal, is provided with second gear train simultaneously, second gear train comprises the 5th gear and the 6th gear; First gear train is installed on the vehicle frame, comprises first gear, second gear, the 3rd gear, the 4th gear, and wherein second gear, the 3rd gear are arranged on the both sides of lifting motor device pedestal; The drive motor means base is arranged on the opposite side of second gear, and drive motor means and first gear are installed on the drive motor means base, is provided with the bar base in the middle of the 3rd gear, the 4th gear, on the bar base connecting rod is installed; Handle two port edges that the hawser rolls are installed in a side of vehicle frame respectively for two, handle the hawser roll for two side and first gear train, the second gear train same side are installed; Be provided with the driving wheel carriers in the middle of two vehicle frame bars, the two ends that drive wheel carrier are separately installed with driving wheel, and driven wheel is set on the driving wheel, and driving wheel, drive wheel carrier and the coaxial installation of driven wheel, and drive chain is striden around two driven wheels through the driving wheel carrier; The other end of vehicle frame bar is connected with an end of clamping bar, and the other end of clamping bar is provided with clamp cap, and an end of clamping device horizontal adjusting knob passes the through hole of clamp cap, enters in the clamping bar; The end that clamping device is vertically adjusted knob passes the through hole on the spring block, enters the chute of clamping bar upper surface; Two pinch wheels are installed on the two ends that clamp wheel carrier, and four groups clamp wheel carrier and are assemblied in the clamping bar lower surface; Clamping device is vertically adjusted knob, spring block and clamping wheel carrier coaxial line; Clamping bar is installed in above the car base;
Described vehicle frame is tubulose, and pipe support is the quadrant arc;
Described clamping bar is tubulose.
The beneficial effects of the utility model are as follows:
(1) the utility model overcome robot high dip degree flowability cleaning and because lacking the difficult problem that cleaning that necessary frictional property causes can not well be implemented down, simple in structure, the high wheel of operational efficiency minor clamp degree good, can regulate, many to clamping the wheel good reliability.
(2) power resources of cleaning systems are in lifting motor of the present utility model, have saved separately to cleaning systems provide power, greatly reduce cost, have improved the utilization rate of motor.
(3) independent feed system has not only alleviated the utility model weight also for dolly provides powerful flying power and reservoir storage, has removed the work of often charging for robot and adding water from, has improved the operating efficiency of robot greatly.
Description of drawings
Fig. 1 is overall schematic of the present utility model;
Fig. 2 is the utility model vertical view;
Fig. 3 is the utility model rearview;
Fig. 4 is the utility model partial exploded view;
Fig. 5 is the utility model schematic diagram;
Among the figure: drive motor means base 1, lifting motor device pedestal 2, handle hawser roll 3, first gear train 4, bar base 5, connecting rod 6, pipe support 7, car base 8, bracing or strutting arrangement 9, vehicle frame 10, vehicle frame bar 11, clamping bar 12, clamp cap 13, spring block 14, clamping device horizontal adjusting knob 15, clamping device is vertically adjusted knob 16, edge sensor base 17, edge sensor 18, driving wheel 19, drive wheel carrier 20, clamp wheel carrier 21, pinch wheels 22, second gear train 23, driving wheel gear shaft 24, lifting motor device 25, drive motor means 26, driven wheel 27.
The specific embodiment
Below in conjunction with accompanying drawing the utility model is described further.
As Fig. 1, Fig. 2, Fig. 3, Fig. 4, shown in Figure 5, photovoltaic module cleaning machine robot movement mechanism comprises drive motor means base 1, lifting motor device pedestal 2, manipulation hawser roll 3, first gear train 4, bar base 5, connecting rod 6, pipe support 7, car base 8, bracing or strutting arrangement 9, vehicle frame 10, vehicle frame bar 11, clamping device, edge sensor base 17, edge sensor 18, driving wheel 19, drives wheel carrier 20, second gear train 23, driving wheel gear shaft 24, lifting motor device 25, drive motor means 26, driven wheel 27;
Clamping device comprises that clamping bar 12, clamp cap 13, spring block 14, clamping device horizontal adjusting knob 15, clamping device are vertically adjusted knob 16, clamped wheel carrier 21, pinch wheels 22.
Two ports of vehicle frame 10 all are connected with an end of pipe support 7 respectively by screw, and the other end of pipe support 7 is provided with edge sensor base 17, and a plurality of edge sensors 18 are installed on the edge sensor base 17; Two port edges of vehicle frame 10 lower surfaces all are connected with an end of vehicle frame bar 11, a side of vehicle frame 10 is provided with lifting motor device pedestal 2, lifting motor device 26 is installed on the lifting motor device pedestal 2 by bracing or strutting arrangement 9, be provided with second gear train, 23, the second gear trains 23 on the lifting motor device pedestal 2 simultaneously and comprise the 5th gear and the 6th gear; First gear train 4 is installed on the vehicle frame 10, comprises first gear, second gear, the 3rd gear, the 4th gear, and wherein second gear, the 3rd gear are arranged on the both sides of lifting motor device pedestal 2; Drive motor means base 1 is arranged on the opposite side of second gear, and drive motor means 27 and first gear are installed on the drive motor means base 1, is provided with bar base 5 in the middle of the 3rd gear, the 4th gear, and connecting rod 6 is installed on the bar base 5; Handle two port edges that hawser rolls 3 are installed in 10 1 sides of vehicle frame respectively for two, handle hawser roll 3 for two sides and first gear train, the second gear train same side are installed; Be provided with in the middle of two vehicle frame bars 11 and drive wheel carrier 20, the two ends that drive wheel carrier 20 are separately installed with driving wheel 19, driven wheel 27 is set on the driving wheel 19, and driving wheel 19, drives wheel carrier 20 and driven wheel 27 coaxial installations, drive chain is striden around two driven wheels through the driving wheel carrier; The other end of vehicle frame bar 11 is connected with an end of clamping bar 12, and the other end of clamping bar 12 is provided with clamp cap 13, and an end of clamping device horizontal adjusting knob 15 passes the through hole of clamp cap 13, enters in the clamping bar 12; The end that clamping device is vertically adjusted knob 16 passes the through hole on the spring block 14, enters the chute of clamping bar 12 upper surfaces; Two pinch wheels 22 are installed on the two ends that clamp wheel carrier 21, and four groups clamp wheel carrier 21 and are assemblied in the clamping bar lower surface; Clamping device is vertically adjusted knob 16, spring block 14 and is clamped wheel carrier 21 coaxial lines; Clamping bar 12 is installed in above the car base 8;
Described vehicle frame 10 is tubulose, and pipe support 7 is the quadrant arc;
Described clamping bar 12 is tubulose.
The utility model course of work is as follows:
The utility model drives driving wheel by drive motor means 26 horizontal motoricity is provided; Four groups clamp the positive and negative that wheel carrier 21 is respectively applied to clamp photovoltaic panel and come stable motion mechanism, clamp that wheel carrier 21 is equipped with clamping device horizontal adjusting knob 15, clamping device is vertically adjusted knob 16; It is mobile from top to bottom that lifting motor device 25 drives cleaning systems; Handle the hawser roll and be used for fixedly cleaning systems, prevent that it from carrying out unnecessary rotation and transverse movement, guarantee cleaning systems being synchronized with the movement when motion is laterally advanced simultaneously; Described cleaning systems are handled the hawser coiling and are installed between two motions, and these cleaning systems are common cleaning systems.
Claims (2)
1. photovoltaic module cleaning machine robot movement mechanism comprises and handles hawser roll, first gear train, bar base, connecting rod, pipe support, car base, vehicle frame, vehicle frame bar, clamping device, edge sensor, driving wheel, driving wheel carrier, second gear train, driving wheel gear shaft, lifting motor device, drive motor means, driven wheel; It is characterized in that:
Clamping device comprises that clamping bar, clamp cap, spring block, clamping device horizontal adjusting knob, clamping device are vertically adjusted knob, clamped wheel carrier, pinch wheels;
Two ports of vehicle frame all are connected with an end of pipe support respectively by screw, and the other end of pipe support is provided with the edge sensor base, and a plurality of edge sensors are installed on the edge sensor base; Two port edges of vehicle frame lower surface all are connected with an end of vehicle frame bar, a side of vehicle frame is provided with the lifting motor device pedestal, the lifting motor device is installed on the lifting motor device pedestal, is provided with second gear train simultaneously, second gear train comprises the 5th gear and the 6th gear; First gear train is installed on the vehicle frame, comprises first gear, second gear, the 3rd gear, the 4th gear, and wherein second gear, the 3rd gear are arranged on the both sides of lifting motor device pedestal; The drive motor means base is arranged on the opposite side of second gear, and drive motor means and first gear are installed on the drive motor means base, is provided with the bar base in the middle of the 3rd gear, the 4th gear, on the bar base connecting rod is installed; Handle two port edges that the hawser rolls are installed in a side of vehicle frame respectively for two, handle the hawser roll for two side and first gear train, the second gear train same side are installed; Be provided with the driving wheel carriers in the middle of two vehicle frame bars, the two ends that drive wheel carrier are separately installed with driving wheel, and driven wheel is set on the driving wheel, and driving wheel, drive wheel carrier and the coaxial installation of driven wheel, and drive chain is striden around two driven wheels through the driving wheel carrier; The other end of vehicle frame bar is connected with an end of clamping bar, and the other end of clamping bar is provided with clamp cap, and an end of clamping device horizontal adjusting knob passes the through hole of clamp cap, enters in the clamping bar; The end that clamping device is vertically adjusted knob passes the through hole on the spring block, enters the chute of clamping bar upper surface; Two pinch wheels are installed on the two ends that clamp wheel carrier, and four groups clamp wheel carrier and are assemblied in the clamping bar lower surface; Clamping device is vertically adjusted knob, spring block and clamping wheel carrier coaxial line; Clamping bar is installed in above the car base.
2. photovoltaic module cleaning machine robot movement mechanism as claimed in claim 1 is characterized in that described vehicle frame is tubulose, and pipe support is the quadrant arc; Described clamping bar is tubulose.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201320127502 CN203109935U (en) | 2013-03-19 | 2013-03-19 | Movement mechanism of photovoltaic module robot cleaner |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201320127502 CN203109935U (en) | 2013-03-19 | 2013-03-19 | Movement mechanism of photovoltaic module robot cleaner |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN203109935U true CN203109935U (en) | 2013-08-07 |
Family
ID=48890312
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN 201320127502 Withdrawn - After Issue CN203109935U (en) | 2013-03-19 | 2013-03-19 | Movement mechanism of photovoltaic module robot cleaner |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN203109935U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103158145A (en) * | 2013-03-19 | 2013-06-19 | 杭州电子科技大学 | Movement mechanism of robot cleaner for photovoltaic module |
| CN104259121A (en) * | 2014-08-19 | 2015-01-07 | 杜吉良 | Ash removing device for photovoltaic module |
-
2013
- 2013-03-19 CN CN 201320127502 patent/CN203109935U/en not_active Withdrawn - After Issue
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103158145A (en) * | 2013-03-19 | 2013-06-19 | 杭州电子科技大学 | Movement mechanism of robot cleaner for photovoltaic module |
| CN104259121A (en) * | 2014-08-19 | 2015-01-07 | 杜吉良 | Ash removing device for photovoltaic module |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| C53 | Correction of patent of invention or patent application | ||
| CB03 | Change of inventor or designer information |
Inventor after: Wu Qiuxuan Inventor after: Zhao Junxiao Inventor after: Lin Weijie Inventor after: Zhang Botao Inventor after: Wang Jian Inventor after: Liu Bichuan Inventor after: Liu Shirong Inventor after: Wang Yuesheng Inventor after: Xie Yingjiao Inventor before: Wu Qiuxuan Inventor before: Xie Yingjiao Inventor before: Zhang Jianmin Inventor before: Liu Shirong Inventor before: Lin Weijie Inventor before: Wang Yuesheng |
|
| COR | Change of bibliographic data |
Free format text: CORRECT: INVENTOR; FROM: WU QIUXUAN XIE YINGJIAO ZHANG JIANMIN LIU SHIRONG LIN WEIJIE WANG YUESHENGTO: WU QIUXUAN ZHAO JUNXIAO LIN WEIJIE ZHANG BOTAO WANG JIAN LIU BICHUAN LIU SHIRONG WANG YUESHENG XIE YINGJIAO |
|
| AV01 | Patent right actively abandoned |
Granted publication date: 20130807 Effective date of abandoning: 20150325 |
|
| AV01 | Patent right actively abandoned |
Granted publication date: 20130807 Effective date of abandoning: 20150325 |
|
| RGAV | Abandon patent right to avoid regrant |