CN214683076U

CN214683076U - Traveling system and cleaning device

Info

Publication number: CN214683076U
Application number: CN202120105338.9U
Authority: CN
Inventors: 王磊; 朱家朋; 王耀邦; 晏辉; 周建; 李伟; 秦昆仑
Original assignee: Sunpure Technology Co Ltd
Current assignee: Renjie Intelligent Technology Co ltd
Priority date: 2021-01-14
Filing date: 2021-01-14
Publication date: 2021-11-12
Anticipated expiration: 2031-01-14

Abstract

The utility model discloses a traveling system, including power unit, flexible drive mechanism, can realize driven diversion drive mechanism of diversion, at least one driving wheel group, at least one and the spacing wheelset of driving wheel group syntropy pivoted, power unit can the pivoted through flexible drive mechanism respectively connects the driving wheel group, and passes through diversion drive mechanism can the pivoted connection spacing wheelset. Still openly use this traveling system's cleaning device, the beneficial effects of the utility model: the homodromous/synchronous rotation of the driving wheel set and the limiting wheel set is realized by using the least investment of a power motor and a simpler transmission form which is easy to assemble.

Description

Traveling system and cleaning device

Technical Field

The utility model relates to a photovoltaic power plant field especially relates to a traveling system.

Background

With the development of science and technology, unmanned cleaning devices or cleaning robots are increasingly adopted in the existing photovoltaic power stations for dust cleaning of photovoltaic components, and particularly in northwest remote areas and middle and east desert areas in China, the future market prospect is wide.

The photovoltaic module can have installation deviation in the installation stage, for example, end face fall, height fall etc. this all requires unmanned cleaning device or cleaning robot to possess stronger obstacle crossing current ability. In order to improve the traffic capacity, the driving wheels and the limiting wheels of the general rail-hanging type cleaning robot are driven by power. At present, various realization modes of driving wheels and limiting wheels in the market are provided with power, and the realization modes have respective defects, some realization modes are high in cost and large in control difficulty, and some transmission chains are very complex and large in installation difficulty.

Current photovoltaic cleans machine people, and traveling system is mostly drive wheel, the equal drive power of spacing wheel to better current ability has. The common implementation modes are mainly two, such as application numbers: application No.: 201821121551.3, discloses a walking system of photovoltaic cleaning robot for the drive cleans the main part walking, and it includes first running gear, second running gear and third running gear, and this first running gear and second running gear are located respectively and clean the main part both ends, and this third running gear is located and cleans the main part middle part, and this first running gear is equipped with walking wheelset, characterized in that: the first travelling mechanism is also provided with an active change gear set, the active change gear set is provided with two change gears and a one-way change gear driving set, and the one-way change gear driving set is connected with the two change gears to drive one of the change gears to rotate. The mode is that a motor + chain drive drives two sets of drive wheels, additionally increases two independent motor drive spacing wheels, and this mode has additionally increased two sets of driving system (including motor, reduction gear, driver and other accessories) for drive spacing wheel, the input cost is great, and there is the synchronism problem in drive wheel motor and spacing wheel motor, has increased the control degree of difficulty.

Also as in application No.: 202010293344.1, the disclosed photovoltaic board cleans machine people, its characterized in that includes: the device comprises a shell, a walking shaft, a walking wheel, an upper change gear and a roller brush shaft; the upper side and the lower side of the shell are respectively provided with a containing chamber, the travelling wheels are linked with travelling shafts, the travelling wheels and the roller brush shaft are arranged below the middle part of the shell, the travelling wheels are arranged adjacent to the containing chambers, the upper change gear is rotatably arranged below one of the containing chambers, the axis of the upper change gear is vertical to the axis of the travelling wheels, wherein a first speed reducing motor with two output shafts is arranged in one chamber, the output shafts are provided with a main gear, one end of a pivot shaft of the travelling wheel penetrates into one of the containing chambers and is provided with a first driven gear, one end of a pivot shaft of the upper change gear penetrates into one of the containing chambers and is provided with a second driven gear, the main gear of each output shaft is respectively meshed and linked with the adjacent first driven gear and the adjacent second driven gear, and the other containing chamber is internally provided with a second speed reducing motor which drives the roller brush shaft to rotate. The power of a motor is transmitted to two groups of driving wheels and two groups of limiting wheels by adopting complete gear transmission; because the transmission chain is longer, a longer shaft and a larger number of gears are needed, the assembly is complicated, the cost is high, and the implementation difficulty is high.

The information disclosed in this background section is only for enhancement of understanding of the general background of the invention and should not be taken as an acknowledgement or any form of suggestion that this information constitutes prior art already known to a person skilled in the art.

SUMMERY OF THE UTILITY MODEL

The utility model discloses the technical problem that will solve lies in: how to solve among the prior art traveling system drive wheel, spacing wheel and the driving method have the control degree of difficulty height, complex assembling's problem.

The utility model discloses a following technical means realizes solving above-mentioned technical problem:

the walking system comprises a power mechanism, a flexible transmission mechanism, a turning transmission mechanism capable of realizing turning transmission, at least one driving wheel set and at least one limiting wheel set synchronously rotating with the driving wheel set in the same direction, wherein the power mechanism is respectively connected with the driving wheel set in a rotatable manner through the flexible transmission mechanism, and is connected with the limiting wheel set in a rotatable manner through the turning transmission mechanism.

The utility model discloses a power unit drives one and above a drive wheelset with flexible drive mechanism and rotates, simultaneously, and the rotation of drive wheelset drives the rotation of spacing wheelset for drive wheelset and spacing wheelset synchronous drive can realize the syntropy/synchronous revolution of drive wheel, spacing wheel with the transmission form of minimum motor power input and simpler easy assembly.

Preferably, the flexible transmission mechanism further comprises a supporting part, the supporting part is provided with a vertical mounting surface and a horizontal mounting surface, the power mechanism and the driving wheel set are mounted on one side of the vertical mounting surface of the supporting part, the limiting wheel set is mounted on the horizontal mounting surface of the supporting part, and the flexible transmission mechanism and the turning transmission mechanism are mounted on the other side of the vertical mounting surface of the supporting part.

Preferably, the driving wheel set and the limiting wheel set rotating synchronously in the same direction as the driving wheel set are vertically arranged.

Preferably, the number of the driving wheel sets is two, the number of the limiting wheel sets is two, the two driving wheel sets and the two limiting wheel sets are symmetrically arranged, the power mechanism is connected with the two driving wheel sets through a flexible transmission mechanism, and each driving wheel set is connected with one limiting wheel set through a turning transmission mechanism.

Preferably, the flexible transmission mechanism includes a first driving wheel, a first driven wheel, and a first transmission belt, the first driving wheel is connected to the output end of the power mechanism, the first driven wheel is connected to the driving wheel set, and the first driving wheel is connected to the first driven wheel through the first transmission belt.

Preferably, the first driving wheel is a driving sprocket, the first driven wheel is a driven sprocket, and the first driving belt is a chain, or the first driving wheel is a driving pulley, the first driven wheel is a driven pulley, and the first driving belt is a belt.

Preferably, the power mechanism comprises a motor and a speed reducer, the motor is connected with the speed reducer, and an output shaft of the speed reducer is connected with the first driving wheel.

Preferably, the device further comprises a connecting shaft capable of being connected in a rotating mode, an output shaft of the speed reducer is connected with one end of the connecting shaft, and the first driving wheel is connected to the other end of the connecting shaft.

The connecting shaft can increase the motor output shaft transmission switching mechanism and expand the motor output capacity.

Preferably, the direction-changing transmission mechanism comprises a second driving wheel and a second driven wheel, the second driving wheel is connected to a first rotating shaft of the driving wheel set, the second driven wheel is connected to a second rotating shaft of the limiting wheel set, and the second driving wheel is meshed with the second driven wheel.

Preferably, the second driving wheel is a driving bevel gear, the second driven wheel is a driven bevel gear, or the second driving wheel is a worm, and the second driven wheel is a worm gear.

Preferably, the driving wheel set further comprises a driving wheel, the driving wheel is connected to one end of the first rotating shaft, the second driving wheel is connected to the middle of the first rotating shaft, and the flexible transmission mechanism is connected to the other end of the first rotating shaft.

Preferably, the limiting wheel set further comprises a limiting wheel, the limiting wheel is connected to the bottom end of the second rotating shaft, and the second driven wheel is connected to the top end of the second rotating shaft.

The utility model discloses still disclose cleaning device, including the aforesaid traveling system, traveling system connects at cleaning system's one end or both ends.

The utility model has the advantages that:

(1) the utility model discloses a power unit drives one or more drive wheelsets through flexible drive mechanism and rotates, simultaneously, the rotation of drive wheelset drives the rotation of spacing wheelset through diversion slewing mechanism, makes drive wheelset and spacing wheelset synchronous drive, can realize the syntropy/synchronous rotation of drive wheel, spacing wheel with minimum motor power input and the transmission form of simpler easy assembly, and control structure is simple, and the assembly is simple;

(2) the connecting shaft can be added with a motor output shaft transmission switching mechanism to expand the output capacity of the motor;

(3) the capability of small end face fall of the assembly and the operation reliability can be enhanced.

Drawings

FIG. 1 is a schematic diagram of a conventional walking system according to the present invention;

FIG. 2 is a schematic view of the construction of the walking system;

FIG. 3 is a schematic view of the connection between the power mechanism and the first driving wheel;

FIG. 4 is a schematic view of the connection between the driving wheel set and the limiting wheel set;

FIG. 5 is a schematic view of the sweeping system;

FIG. 6 is an enlarged view at A in FIG. 5;

reference numbers in the figures:

100. supporting the box body; 200. a power mechanism; 201. a motor; 202. a speed reducer; 203. a connecting shaft; 204. a power bearing seat; 205. a power bearing; 206. a power shaft sleeve;

300. a flexible transmission mechanism; 301. a drive sprocket; 302. a driven sprocket; 303. a chain; 304. a tension wheel;

400. a direction-changing transmission mechanism; 401. a drive bevel gear; 402. a driven bevel gear;

500. a driving wheel set; 501. a first rotating shaft; 502. a drive wheel; 503. a drive bearing;

600. a limiting wheel set; 601. a second rotating shaft; 602. a limiting wheel; 603. a limit bearing;

700. a cleaning system; 800. a photovoltaic module;

Detailed Description

To make the purpose, technical solution and advantages of the embodiments of the present invention clearer, the embodiments of the present invention are combined to clearly and completely describe the technical solution in the embodiments of the present invention, and obviously, the described embodiments are some embodiments of the present invention, not all embodiments. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative efforts belong to the protection scope of the present invention.

The first embodiment is as follows:

as shown in fig. 1 and 2, the traveling system includes a supporting box 100, a power mechanism 200, a flexible transmission mechanism 300, a direction-changing transmission mechanism 400, at least one driving wheel set 500, and at least one limiting wheel set 600, wherein the power mechanism 200 is installed on the supporting box 100, the driving wheel set 500 is rotatably installed on the supporting box 100, the limiting wheel set 600 is rotatably installed on the supporting box 100, the power mechanism 200 is connected to the driving wheel set 500 through the flexible transmission mechanism 300 for rotation, and simultaneously, the driving wheel set 500 rotates to drive the limiting wheel set 600 to rotate through the direction-changing transmission mechanism 400, that is, one power mechanism 200 simultaneously drives the driving wheel set 500 and the limiting wheel set 600 to synchronously rotate in the same direction, where the same direction is explained as that the driving wheel set 500 and the limiting wheel set 600 simultaneously rotate in the same direction, and the same direction is simultaneously explained as that the driving wheel set 500 and the limiting wheel set 600 simultaneously rotate in the same direction, or clockwise.

In this embodiment, the number of the power mechanism 200 is one, the number of the driving wheel sets 500 is two, the number of the limiting wheel sets 600 is two, the two driving wheel sets 500 and the two limiting wheel sets 600 are symmetrically arranged, the power mechanism 200 is simultaneously connected with the two driving wheel sets 500 through the flexible transmission mechanism 300, each driving wheel set 500 is connected with one limiting wheel set 600 through the turning transmission mechanism 400, and more driving wheel sets 500, generally two driving wheel sets 500 can be arranged as required.

Referring to fig. 2, in the present embodiment, the supporting box 100 has a hollow cavity structure, in the present embodiment, the supporting box 100 is a convex cavity, and may also be other supporting boxes 100 such as a rectangular cavity, or certainly, may not have a box structure, and may also have an L-shaped plate structure; the box body type structure can seal the transmission component in the box body, so that dust is prevented from entering and the use is prevented from being influenced; the power mechanism 200 and the driving wheel set 500 are installed on a vertical surface of the support case 100 and located on the same side, the limiting wheel set 600 is installed on a horizontal surface of the support case 100 and located on a bottom surface, and the flexible transmission mechanism 300 and the direction-changing transmission mechanism 400 are located inside the support case 100.

As shown in fig. 1, the flexible transmission mechanism 300 includes a first driving wheel, a first driven wheel, and a first transmission belt;

in this embodiment, the first driving wheel is a driving sprocket 301, the first driven wheel is a driven sprocket 302, the first driving belt is a chain 303, the driving sprocket 301 and the driven sprocket 302 are connected by the chain 303, the driving sprocket 301 is connected with the power mechanism 200 and is driven to rotate by the power mechanism 200, and the two driven sprockets 302 are respectively connected with the two driving wheel sets 500 and can drive the driving wheel sets 500 to rotate.

The chain tensioning device further comprises a tensioning wheel 304, wherein the tensioning wheel 304 is connected to the supporting box body 100 through a shaft and a bearing, is connected with the chain 303, and is used for tensioning the chain 303.

As shown in fig. 4, the direction-changing transmission mechanism 400 includes a second driving wheel and a second driven wheel;

in this embodiment, the second driving wheel is a driving bevel gear 401, the second driven wheel is a driven bevel gear 402, the driving bevel gear 401 is connected to a first rotating shaft 501 of the driving wheel set 500, the driven bevel gear 402 is connected to a second rotating shaft 601 of the limiting wheel set 600, and the driving bevel gear 401 is engaged with the driven bevel gear 402.

In this embodiment, the driving wheel set 500 and the limiting wheel set 600 are vertically arranged, and the bevel gears of 45 ° can be selected for both the driving bevel gear 401 and the driven bevel gear 402, so that 90-degree direction-changing transmission can be realized, and therefore, direction changing in the direction-changing transmission mechanism 400 is changed from a horizontal direction to a vertical direction.

In this embodiment, a power mechanism 200 drives a driving sprocket 301 to rotate, the driving sprocket 301 drives two driven sprockets 302 to rotate through a chain 303, and then drives a first rotating shaft 501 of two driving wheel sets 500 to rotate, meanwhile, the driving bevel gear 401 rotates due to the rotation of the first rotating shaft 501, the driving bevel gear 401 drives a driven bevel gear 402 to rotate, and then drives a limiting wheel set 600 to rotate, so that the driving wheel set 500 and the limiting wheel set 600 are driven synchronously, power is transmitted to the driving wheel set 500 and the limiting wheel set 600, and the two wheel sets are driven to rotate and have the same moving direction, thereby realizing a walking function; the same direction/synchronous rotation of the driving wheel set 500 and the limiting wheel set 600 can be realized with the least investment of power motors and a simpler transmission form which is easy to assemble.

Example two:

in this embodiment, the difference from the first embodiment is that: the flexible drive mechanism 300 is different;

the first driving wheel is a driving belt wheel, the first driven wheel is a driving belt wheel, the first transmission belt is a belt, the driving belt wheel is connected with the driven belt wheel through the belt, the driving belt wheel is connected with the power mechanism 200 and driven to rotate by the power mechanism 200, the two driven belt wheels are respectively connected with the two driving wheel sets 500, and the driving wheel sets 500 can be driven to rotate.

The driving belt wheel and the driven belt wheel are belt wheels, and can be parallel belt wheels, triangular flat belt wheels and the like;

it should be noted that: in addition to the chain drive and belt drive in the first and second embodiments, the flexible transmission mechanism 300 may also be a rope drive, a roller chain drive, or the like.

Example three:

in this embodiment, the difference from the first embodiment is that: the direction-changing transmission mechanism 400 is different;

in this embodiment, the second driving wheel is a worm, the second driven wheel is a worm wheel, and the worm wheel is meshed with the worm.

It should be noted that: besides the bevel gear transmission and the worm gear transmission in the first and second embodiments, the direction-changing transmission mechanism 400 may also be other mechanisms that can realize direction-changing transmission of 90 degrees.

Example four:

as shown in fig. 3, on the basis of the first embodiment, the power mechanism 200 includes a motor 201, a speed reducer 202, a connecting shaft 203, a power bearing seat 204, and a power bearing 205, the motor 201 is connected to the speed reducer 202, the left end of the connecting shaft 203 is a cavity, an output shaft of the speed reducer 202 is fixed to the left cavity of the connecting shaft 203 through a flat key or a spline, so that the output power of the motor 201 can be extended, the right end of the connecting shaft 203 is solid, the driving sprocket 301 is fixedly connected to the right end of the connecting shaft 203 through a fastening assembly, the fastening assembly is a bolt, a gasket, or the like, the outside of the connecting shaft 203 is connected to the power bearing 205, the power bearing 205 is installed in the power bearing seat 204, the power bearing 205 may be a double-row ball bearing, and the power bearing seat 204 is connected to the support box 100.

The connecting shaft 203 can increase the transmission and switching mechanism of the output shaft of the motor 201, and expand the output capacity of the motor 201.

A power shaft sleeve 206 is added between the driving chain wheel 301 and the power bearing 205.

Example five:

as shown in fig. 4, referring to fig. 1 and 2, on the basis of the third embodiment, in this embodiment, the driving wheel set 500 includes a first rotating shaft 501, a driving wheel 502 and a driving bearing 503, the driving wheel 502 is fixedly connected to the left end of the first rotating shaft 501, the middle part of the first rotating shaft 501 is connected to the supporting box 100 through the driving bearing 503, or a bearing seat is additionally provided as required, the right side of the driving bearing 503 is a driving bevel gear 401, the driving bevel gear 401 is connected to the first rotating shaft 501, and the driven sprocket 302 is connected to the rightmost end of the first rotating shaft 501 through a fastening assembly.

A bushing is additionally arranged between the driven sprocket 302 and the drive bevel gear 401.

The limiting wheel set 600 comprises a second rotating shaft 601, a limiting wheel 602 and a limiting bearing 603, wherein the limiting wheel 602 is connected to the bottom end of the second rotating shaft 601, the middle part of the second rotating shaft 601 is connected with the supporting box body 100 through the limiting bearing 603, or a bearing seat is additionally arranged as required, and the driven bevel gear 402 is connected to the topmost end of the second rotating shaft 601 through a fastening component.

The limit bearing 603 is an angular contact ball bearing or other bearing capable of simultaneously bearing axial and radial forces.

Example six:

as shown in fig. 5 and 6, the cleaning device disclosed in this embodiment includes the traveling systems in the first to fifth embodiments, and the traveling systems are connected to two ends of the cleaning system 700, more specifically, the cleaning system 700 is installed on the top of the supporting box 100, when the photovoltaic module 800 is cleaned, the limiting wheel set 600 travels on the side of the frame of the photovoltaic module 800, and the driving wheel set 500 travels on the upper portion of the frame of the photovoltaic module 800; the cleaning system 700 in this embodiment may be a cleaning robot or other system capable of cleaning in the prior art, and will not be described in detail.

The embodiment provides a chain/gear hybrid transmission photovoltaic cleaning device, which has the advantages of less power sources, less investment and simple assembly, and can enhance the capability and the operational reliability of the small end face fall of the component (the small end face fall means that the adjacent end faces of the photovoltaic component have a fall).

The above embodiments are only used to illustrate the technical solution of the present invention, and not to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, it should be understood by those skilled in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; such modifications and substitutions do not depart from the spirit and scope of the present invention in its corresponding aspects.

Claims

1. The walking system is characterized by comprising a power mechanism, a flexible transmission mechanism, a turning transmission mechanism capable of realizing turning transmission, at least one driving wheel set and at least one limiting wheel set, wherein the power mechanism is respectively connected with the driving wheel set through the flexible transmission mechanism in a rotatable manner and is connected with the limiting wheel set through the turning transmission mechanism in a rotatable manner.

2. The walking system of claim 1, further comprising a support member, wherein the support member is provided with a vertical mounting surface and a horizontal mounting surface, the power mechanism and the driving wheel set are mounted on one side of the vertical mounting surface of the support member, the limiting wheel set is mounted on the horizontal mounting surface of the support member, and the flexible transmission mechanism and the direction-changing transmission mechanism are mounted on the other side of the vertical mounting surface of the support member.

3. The walking system of claim 1, wherein the driving wheel set and the limiting wheel set rotating synchronously and in the same direction are vertically arranged.

4. The walking system of claim 1, wherein the number of the driving wheel sets is two, the number of the limiting wheel sets is two, the two driving wheel sets and the two limiting wheel sets are symmetrically arranged, the power mechanism is connected with the two driving wheel sets through a flexible transmission mechanism, and each driving wheel set is connected with one limiting wheel set through a direction-changing transmission mechanism.

5. The walking system of claim 1, wherein the flexible transmission mechanism comprises a first driving wheel, a first driven wheel and a first transmission belt, the first driving wheel is connected with the output end of the power mechanism, the first driven wheel is connected with the driving wheel set, and the first driving wheel is connected with the first driven wheel through the first transmission belt.

6. The walking system of claim 5, wherein the first driving wheel is a driving sprocket, the first driven wheel is a driven sprocket, and the first driving belt is a chain, or the first driving wheel is a driving pulley, the first driven wheel is a driven pulley, and the first driving belt is a belt.

7. The walking system of claim 5, wherein the power mechanism comprises a motor and a speed reducer, the motor is connected with the speed reducer, and an output shaft of the speed reducer is connected with the first driving wheel.

8. The walking system of claim 7, further comprising a connecting shaft capable of being rotatably connected, wherein an output shaft of the speed reducer is connected with one end of the connecting shaft, and the first driving wheel is connected with the other end of the connecting shaft.

9. The walking system of claim 1, wherein the direction-changing transmission mechanism comprises a second driving wheel and a second driven wheel, the second driving wheel is connected to a first rotating shaft of the driving wheel set, the second driven wheel is connected to a second rotating shaft of the limiting wheel set, and the second driving wheel is meshed with the second driven wheel.

10. The walking system of claim 9, wherein the second driving wheel is a driving bevel gear, the second driven wheel is a driven bevel gear, or the second driving wheel is a worm, and the second driven wheel is a worm gear.

11. The walking system of claim 9, wherein the driving wheel set further comprises a driving wheel, the driving wheel is connected to one end of the first rotating shaft, the second driving wheel is connected to the middle portion of the first rotating shaft, and the flexible transmission mechanism is connected to the other end of the first rotating shaft.

12. The walking system of claim 9, wherein the limiting wheel set further comprises a limiting wheel, the limiting wheel is connected to the bottom end of the second rotating shaft, and the second driven wheel is connected to the top end of the second rotating shaft.

13. A cleaning device comprising a running system according to any one of claims 1 to 12, said running system being connected to one or both ends of the cleaning system.