CN222940774U - A fuselage frame and crawler photovoltaic cleaning robot - Google Patents

Abstract

The utility model provides a machine body frame and a crawler-type photovoltaic cleaning robot, which comprise a battery carrier and machine body side beams arranged on two sides of the battery carrier, wherein the machine body side beams are detachably connected with the battery carrier, the battery carrier is used for mounting a power supply battery, and the machine body side beams are used for mounting a travelling mechanism. The utility model designs the battery carrier and the side beams of the machine body at two sides of the battery carrier into a split structure, and fixes the battery carrier on the side beams of the machine body at two sides in a detachable mode. When the frame of the machine body with different widths is designed, only the battery carrier is required to be developed and designed, the side beams of the machine body can be shared, and additional development is not required, so that the development period of products can be reduced. In addition, the frame of the machine body is designed to be of a detachable split structure, so that parts of corresponding parts can be independently replaced according to damaged parts of the frame of the machine body, and the maintenance cost is reduced.

Description

Fuselage frame and crawler-type photovoltaic cleaning robot

Technical Field

The utility model belongs to the technical field of photovoltaic cleaning robots, and particularly relates to a machine body frame and a crawler-type photovoltaic cleaning robot.

Background

Photovoltaic power stations are representative of renewable energy sources, and become an important component of modern energy structures with the advantages of cleanness, environmental protection and renewable energy sources. The photovoltaic panel is exposed to the outside for a long time, dust and dirt are easy to accumulate, and the power generation efficiency is affected. To solve this problem, a photovoltaic cleaning robot has been developed. The working principle of the photovoltaic cleaning robot is simple and efficient, and a cleaning path can be planned autonomously. The cleaning device such as a specific brush is utilized to easily remove dirt on the surface of the photovoltaic panel, so that the high-efficiency power generation of the photovoltaic panel is ensured.

There are various forms of cleaning robots in the prior art, more commonly known as rail-mounted photovoltaic cleaning robots and crawler-type photovoltaic cleaning robots. The rail-mounted photovoltaic cleaning robot is hung on the photovoltaic panel to clean the photovoltaic panel in a whole row by taking the frame of the photovoltaic panel as a support, and is mainly applied to a centralized photovoltaic power station. Due to the structural characteristics of the rail-mounted photovoltaic cleaning robot, the rail-mounted photovoltaic cleaning robot is suitable for being applied to a centralized photovoltaic power station, but is not suitable for a distributed photovoltaic power station.

The crawler-type photovoltaic cleaning robot adopts a crawler-type chassis structure, is generally provided with a single-head or double-head rolling brush, and cleans a photovoltaic panel in an autonomous or remote control mode, so that the crawler-type photovoltaic cleaning robot is small in structure, flexible in maneuver and suitable for being applied to a distributed photovoltaic power station.

The existing crawler-type photovoltaic cleaning robot has an integral mechanism of a frame, and a rolling brush, a battery, a travelling mechanism and the like are arranged on the frame. Along with the different demands of products, the machine body frames with different sizes need to be developed, so that the development period is long, the parts of the products cannot be interchanged, the machine body frames are damaged and need to be replaced integrally, and the maintenance cost is high.

Therefore, how to reduce the product development period and the maintenance cost is a problem to be solved by those skilled in the art.

Disclosure of utility model

Therefore, the present utility model is directed to a frame for a machine body, which reduces the development period of the product and the maintenance cost;

another object of the present utility model is to provide a crawler-type photovoltaic cleaning robot having the above-described body frame.

In order to achieve the above object, the present utility model provides the following technical solutions:

the frame body is used for a crawler-type photovoltaic cleaning robot and comprises a battery carrier and frame body side beams arranged on two sides of the battery carrier, wherein the frame body side beams are detachably connected with the battery carrier;

The battery carrier is used for installing a power supply battery, and the side beam of the machine body is used for installing a travelling mechanism.

Optionally, in the above-described body frame, the body side members located on both sides of the battery carrier are detachably connected by at least one tie rod.

Optionally, in the above-mentioned fuselage frame, there are at least two tie rods, and at least one of the tie rods is connected to a first end of the fuselage side beam, at least one of the tie rods is connected to a second end of the fuselage side beam, the battery carrier is located between the tie rods at both ends of the fuselage side beam, and/or,

The ends of the two ends of the pull rod are respectively abutted against the plate surfaces of the side beams of the machine body at the two sides of the battery carrier and are fixed through fasteners.

Optionally, in the above-mentioned body frame, the battery carrier includes:

a carrier body having a battery mounting portion for mounting the power supply battery;

The battery carrier comprises a carrier body, a carrier flanging, a battery carrier and a battery carrier, wherein the carrier flanging is arranged at two ends of the carrier body along a first direction, two ends of the carrier flanging along a second direction are detachably fixed on a side beam of the battery carrier, and the first direction and the second direction are mutually perpendicular.

Optionally, in the above-mentioned fuselage frame, two sides of the carrier body along the second direction have limiting plate edges, and the limiting plate edges on either side of the carrier body are attached to the fuselage side beams on the same side.

Optionally, in the above-mentioned fuselage frame, the two ends of the carrier flange edge in the second direction have flange fixing portions, the flange fixing portions extend to the outside of the carrier body along the second direction, and the flange fixing portions at either end of the carrier flange edge are detachably fixed on the fuselage side beams at the same side.

Optionally, in the above-mentioned frame, the battery mounting portion is a battery-embedded groove located in the middle of the carrier body.

Optionally, in the above-mentioned frame, the carrier body is provided with a harness portion for fixing the wiring on an outer platform of the battery mounting portion.

Optionally, in the above-mentioned fuselage frame, the fuselage side sill includes a side sill body and a side sill flange on the side sill body, and the battery carrier is detachably attached to the side sill flange.

Optionally, in the above-described body frame, the side member flanges are located at least on either of upper and lower sides of the side member body, and the side member flanges extend in a direction away from the battery carrier.

Optionally, in the above-mentioned fuselage frame, at least one end of the fuselage side beam is detachably fixed with an ultrasonic detection assembly.

Optionally, in the frame, ultrasonic detecting components are detachably fixed at two ends of the side beams, and/or,

The ultrasonic detection assembly includes:

An ultrasonic sensor fixing plate;

The ultrasonic sensor is arranged on the ultrasonic sensor fixing plate and used for detecting the distance between the ultrasonic sensor and the photovoltaic panel;

The ultrasonic sensor fixing seat is detachably fixed on the ultrasonic sensor fixing plate and the airframe side beam respectively.

Optionally, in the above frame, the ultrasonic detection assembly further includes an ultrasonic sensor cover fixed on the ultrasonic sensor fixing seat, and the ultrasonic sensor cover is covered on the outer side of the ultrasonic sensor.

Optionally, in the above-mentioned frame, the ultrasonic sensor is fixed on the ultrasonic sensor fixing plate through a positioning clip.

Optionally, in the frame, the positioning clamp posts are arranged on the ultrasonic sensor fixing plate, and a plugging space for plugging the ultrasonic sensor is formed between the positioning clamp posts, or

The positioning clamp column is arranged on the outer wall of the ultrasonic sensor, and the ultrasonic sensor fixing plate is provided with a slot for the insertion of the positioning clamp column.

Optionally, in the above frame of the body, the ultrasonic detection assembly includes at least two ultrasonic sensors, and a line connecting the at least two ultrasonic sensors is not perpendicular and not parallel to an extending direction of the side beam of the body.

Optionally, in the above-mentioned fuselage frame, the ultrasonic sensor fixed plate includes a first plate body and a second plate body that are preset angles, two ultrasonic sensors are respectively disposed on the first plate body and the second plate body, and one of the first plate body and the second plate body is fixed in the ultrasonic sensor fixed seat, and the other is not perpendicular to the fuselage side beam.

The utility model provides a frame body, which is characterized in that a battery carrier and frame body side beams at two sides of the battery carrier are designed into a split type structure, and the battery carrier is fixed on the frame body side beams at two sides in a detachable mode. The effect of changing the width of the frame of the machine body can be achieved by changing the battery carrier with the corresponding width, and the application range of the product is enhanced. When the frame of the machine body with different widths is designed, only the battery carrier is required to be developed and designed, the side beams of the machine body can be shared, and additional development is not required, so that the development period of products can be reduced. In addition, the frame of the machine body is designed to be of a detachable split structure, so that parts of corresponding parts can be independently replaced according to damaged parts of the frame of the machine body, and the maintenance cost is reduced.

A tracked photovoltaic cleaning robot comprising a fuselage frame as defined in any one of the preceding claims.

The crawler-type photovoltaic cleaning robot provided by the utility model has all the technical effects of the machine body frame because of the machine body frame, and is not repeated herein.

Drawings

In order to more clearly illustrate the embodiments of the present utility model or the technical solutions in the prior art, the drawings that are required to be used in the embodiments or the description of the prior art will be briefly described below, and it is obvious that the drawings in the following description are only embodiments of the present utility model, and that other drawings can be obtained according to the provided drawings without inventive effort for a person skilled in the art.

FIG. 1 is an exploded view of a fuselage frame provided in an embodiment of the present utility model;

Fig. 2 is a schematic structural diagram of a battery carrier according to an embodiment of the present utility model;

FIG. 3 is a schematic view of a side frame of a fuselage according to an embodiment of the present utility model;

FIG. 4 is an exploded view of an ultrasonic probe assembly according to an embodiment of the present utility model;

fig. 5 is a schematic structural view of an ultrasonic sensor cover according to an embodiment of the present utility model;

Fig. 6 is a schematic structural diagram of an ultrasonic sensor fixing seat according to an embodiment of the present utility model;

Fig. 7 is a schematic structural diagram of an ultrasonic sensor fixing plate and an ultrasonic sensor according to an embodiment of the present utility model.

The meaning of the individual reference numerals in the figures is as follows:

100-of a battery carrier, 110-of a carrier body, 111-of a battery mounting part, 112-of a wire harness part, 113-of a limiting plate edge, 114-of an outer side platform, 120-of a carrier flanging, 121-of a flanging fixing part;

200-of a side beam of a machine body, 210-of a side beam body, 211-of a pull rod fastening hole, 212-of a sensor fixing hole, 220-of a side beam flanging and 221-of a second fixing hole;

300-pull rod;

400-ultrasonic detection components, 410-ultrasonic sensor covers, 411-top plates, 412-side plates, 413-sensor cover fixing holes, 420-ultrasonic sensor fixing plates, 421-fixing plate fixing holes, 422-positioning clamping columns, 430-ultrasonic sensor fixing seats, 431-first support arms, 432-second support arms, 433-third fixing seat holes, 434-first fixing seat holes, 435-second fixing seat holes and 440-ultrasonic sensors.

Detailed Description

The utility model has the core of providing a machine body frame so as to reduce the development period of products and the maintenance cost;

Another core of the utility model is to provide a crawler-type photovoltaic cleaning robot with the above-mentioned frame.

The following description of the embodiments of the present utility model will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present utility model, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the utility model without making any inventive effort, are intended to be within the scope of the utility model.

The frame of the crawler-type photovoltaic cleaning robot is an integral mechanism, and once collision occurs in the manual working process of the crawler-type photovoltaic cleaning robot, or the frame part structure of the crawler-type photovoltaic cleaning robot is damaged due to other reasons, the frame of the crawler-type photovoltaic cleaning robot needs to be replaced integrally, so that the maintenance cost is high. The main support part of the crawler-type photovoltaic cleaning robot is used as the body frame, the width of the main support part is closely related to the size and the cleaning range of the crawler-type photovoltaic cleaning robot, and the crawler-type photovoltaic cleaning robots with different widths are usually required to be developed due to different requirements, namely, the body frames with different widths are required, so that the corresponding body frames of the different crawler-type photovoltaic cleaning robots are required to be independently developed.

Based on this, an embodiment of the present utility model discloses a body frame for a track type photovoltaic cleaning robot, which includes a battery carrier 100 and body side members 200 disposed at both sides of the battery carrier 100, as shown in fig. 1. Wherein the battery carrier 100 is used for installing the power supply battery, and the battery carrier 100 is used for providing an installation basis for the power supply battery, so that the power supply battery can be reliably supported on the battery carrier 100. As will be appreciated by those skilled in the art, the tracked photovoltaic cleaning robot is a cleaning robot powered by batteries, and the batteries are heavy, so that the battery carrier 100 may be disposed in the middle of the frame of the machine body, so that the power supply batteries are disposed in the middle of the frame of the machine body, so as to achieve the balance of the center of gravity, so that the travelling mechanisms on two sides of the tracked photovoltaic cleaning robot act relatively uniformly on the photovoltaic panel, and damage to the photovoltaic panel is avoided. It should be noted that, the battery carrier 100 may be disposed according to actual requirements, in addition to being disposed at the middle portion of the frame, and is not limited to the middle portion of the frame.

The body side beam 200 is used for installing a travelling mechanism, and for the crawler-type photovoltaic cleaning robot, the travelling mechanism is a crawler-type travelling mechanism. The side frame 200 is used to provide a mounting base for the travelling mechanism, and the mounting manner and arrangement position of the travelling mechanism and the side frame 200 may be the same as those of the prior art, and will not be described herein.

The side frame 200 is detachably connected with the battery carrier 100, and the side frame 200 on both sides of the battery carrier 100 can be fixed in the same manner as the battery carrier 100 or in different manners according to the requirements. The specific fixing method is not limited in the present utility model, as long as the disassembly and assembly of the body side member 200 and the battery carrier 100 can be achieved. As will be appreciated by those skilled in the art, since the running mechanisms on both sides of the track-type photovoltaic cleaning robot are identical, the body side beams 200 on both sides of the battery carrier 100 may be generally identical in structure and symmetrically disposed along the battery carrier 100. The body side members 200 may be different from each other if the body side members 200 on both sides of the battery carrier 100 are not completely identical.

The present utility model provides a body frame, which is characterized in that a battery carrier 100 and body side beams 200 on both sides of the battery carrier 100 are designed as a split structure, and the battery carrier 100 is detachably fixed on the body side beams 200 on both sides. The effect of changing the width of the frame of the body can be achieved by replacing the battery carrier 100 with the corresponding width, and the application range of the product is enhanced. When the frame of the body with different widths is designed, only the battery carrier 100 needs to be developed and designed, and the side frame 200 of the body can be shared without additional development, so that the development period of the product can be reduced. In addition, the frame of the machine body is designed to be of a detachable split structure, so that parts of corresponding parts can be independently replaced according to damaged parts of the frame of the machine body, and the maintenance cost is reduced.

As will be appreciated by those skilled in the art, the battery carrier 100 requires the installation of a heavy weight power supply battery, which will subject the connection of the battery carrier 100 to the body side rail 200 to a large force. If the battery carrier 100 is relied upon to tighten the body side members 200 on both sides, the stability and reliability of the body frame are not compromised. Based on this, in order to improve reliability after the connection of the body frame, in the present embodiment, the body side members 200 located at both sides of the battery carrier 100 are detachably connected by at least one tie rod 300. That is, on the basis of the above technical solution, at least one tie rod 300 is added, and the two side frame members 200 are connected through the tie rod 300, so as to stably maintain the two side frame members 200 at the corresponding intervals. The body side members 200 may support the battery carrier 100, and the forces of tightening the body side members 200 on both sides may be shared by the tie rods 300.

Further, there are at least two tie rods 300, and at least one tie rod 300 is connected to the first end of the body side member 200, and at least one tie rod 300 is connected to the second end of the body side member 200. For ease of understanding, two tie rods 300 are exemplified, wherein the tie rod 300 at the first end of the body side member 200 is a first tie rod and the tie rod 300 at the second end of the body side member 200 is a second tie rod. The battery carrier 100 is located between the first and second tie bars.

The ends of the tie rod 300 are respectively abutted against the plate surfaces of the body side members 200 on both sides of the battery carrier 100, and are fixed by fasteners. Threaded holes are formed at both ends of the tie rod 300, and tie rod fastening holes 211 (shown in fig. 3) are formed on the plate surface of the body side member 200. The threaded end of the fastener passes through the pull rod fastening hole 211 and is in threaded fit with the threads at the end of the pull rod 300, after the fastener is locked, the nut part of the fastener is pressed against the plate surface of the body side beam 200, so that the body side beam 200 is pressed at the end of the pull rod 300, and the effect that the pull rod 300 presses the body side beams 200 at two sides is finally achieved.

To further improve the stability of the body frame after connection, as shown in fig. 2, the battery carrier 100 includes a carrier body 110 and a carrier flange 120. The carrier body 110 is provided with a battery mounting part 111 for mounting a power supply battery, the battery mounting part 111 can be a battery embedded groove body positioned in the middle of the carrier body 110, the power supply battery is embedded in the battery embedded groove body, the center of the power supply battery can be reduced, and then the gravity center of the crawler-type photovoltaic cleaning robot is reduced, so that the crawler-type photovoltaic cleaning robot can walk more stably.

The carrier body 110 is provided with a harness portion 112 for fixing the wiring on an outer platform 114 of the battery mounting portion 111. The harness of the power supply battery may be fixed on the harness portion 112 by a binding tape to make the wiring cleaner. The structure of the wire harness portion 112 may be any as long as the restraint of the wire harness can be induced, for example, the wire harness portion 112 may be a wire harness post, a wire harness clip, or the like, and the specific wire harness form of the wire harness portion 112 is not limited in this embodiment. The outside platform 114 of the battery mounting portion 111 has a sufficient space to provide various structural forms of the harness portion 112.

As shown in fig. 2, the carrier flange 120 is disposed at two ends of the carrier body 110 along a first direction, and two ends of the carrier flange 120 along a second direction are detachably fixed to the body side members 200 at two sides of the battery carrier 100, respectively, where the first direction and the second direction are two directions perpendicular to each other. The first direction may be a head-to-tail direction of the crawler-type photovoltaic cleaning robot, and the second direction may be a width direction of the crawler-type photovoltaic cleaning robot.

In the present embodiment, the battery carrier 100 is a unitary structure formed by bending, and the unitary structure has a stronger strength. The front and rear sides of the carrier body 110 are bent to form the carrier flange 120, and the carrier flange 120 is connected with the body side beam 200, so that the connection between the carrier flange 120 and the carrier body 110 is of an integrated structure, and compared with the connection modes such as welding or fastening, the carrier flange has a better stress concentration resistance effect.

Specifically, the two ends of the carrier flange 120 along the second direction have flange fixing portions 121, the flange fixing portions 121 extend to the outer side of the carrier body 110 along the second direction, and the flange fixing portions 121 at either end of the carrier flange 120 are detachably fixed to the body side member 200 at the same side. In the present embodiment, the burring fixing portion 121 is extended to the outside of the carrier body 110, so that the interference of the carrier body 110 with the body side members 200 can be avoided when the burring fixing portion 121 is connected with the body side members 200, so that the carrier body 110 is relatively easily fixed between the two body side members 200.

The burring fixing portion 121 may be fixed to the body side member 200 by a fastener, and in particular, the burring fixing portion 121 may be fixed to an upper side of the body side member 200 by a fastener such that the body side member 200 provides a supporting force to the carrier body 110 by the burring fixing portion 121. With this arrangement, the fastener for connecting the burring fixing portion 121 and the body side member 200 is not subjected to shearing force by the gravity of the battery carrier 100, and the reliability of the connection of the battery carrier 100 and the body side member 200 can be ensured.

Specifically, as shown in fig. 3, the body side member 200 includes a side member body 210 and a side member flange 220 provided on the side member body 210, and the battery carrier 100 is detachably attached to the side member flange 220. Specifically, the body side member 200 may be an integral structure formed by bending, and the integral structure has stronger strength. At least one of the upper and lower sides of the side rail body 210 may be bent to form the side rail flange 220 and connected to the battery carrier 100 by the side rail flange 220, and since the connection between the side rail flange 220 and the side rail body 210 is of an integral structure, the side rail flange has a superior stress concentration resistance effect compared to the connection modes such as welding or fastening.

The turn-up fixing portion 121 is overlapped on the upper side of the side member turn-up 220 so that the side member turn-up 220 supports the turn-up fixing portion 121. The flange fixing portion 121 may be provided with a plurality of first fixing holes, and the side rail flange 220 may be provided with a plurality of second fixing holes 221. In the mounting process, the flange fixing portion 121 is overlapped on the upper side of the side beam flange 220, the first fixing hole and the second fixing hole 221 are overlapped, and then the first fixing hole and the second fixing hole 221 are penetrated through a fastener and locked.

As shown in fig. 2, the carrier body 110 has limiting plate edges 113 on both sides in the second direction, and the limiting plate edges 113 on either side of the carrier body 110 are attached to the body side member 200 on the same side. The flange fixing portion 121 extends outwards from the outer side of the limiting plate edge 113, so that after the flange fixing portion 121 is lapped on the upper side of the side beam flange 220 and is fixed by a fastener, the limiting plate edge 113 can be guaranteed to be attached to the side beam 200 of the body on the same side of the carrier body 110, namely, the side beam body 210 of the side beam 200, so that when the crawler-type photovoltaic cleaning robot receives force in a second direction (namely, the width direction), besides the connection position of the flange fixing portion 121 and the side beam flange 220, the attachment position of the side beam 200 of the body and the side beam body 210 can also achieve force transmission, and accordingly, the situation that the force in the second direction is totally applied to the connection position of the flange fixing portion 121 and the side beam flange 220 can be avoided, and the fastener is subjected to fatigue damage or loosening due to excessive shearing force.

As shown in fig. 3, the side rail flange 220 is located at least on either of the upper and lower sides of the side rail body 210, and the side rail flange 220 extends in a direction away from the battery carrier 100. It should be noted that, when the side beam flanges 220 are disposed on both the upper and lower sides of the side beam body 210, the flange fixing portion 121 may be connected to only the side beam flange 220 on the upper side of the side beam body 210, and the side beam flange 220 on the lower side of the side beam body 210 may be used to connect other parts. The side rail flange 220 extends away from the battery carrier 100, and can ensure that the body side rail 200 is attached to the side rail body 210.

As shown in FIG. 1, in one embodiment of the present utility model, at least one end of the body side rail 200 is removably secured with an ultrasonic probe assembly 400. For the crawler-type photovoltaic cleaning robot capable of only one-way driving, the front side of the driving direction of the crawler-type photovoltaic cleaning robot faces the falling risk, so for the crawler-type photovoltaic cleaning robot in this form, the ultrasonic detection assembly 400 can be arranged at only one end of the body side beam 200. For the crawler-type photovoltaic cleaning robot running in one direction, the ultrasonic detection assemblies 400 are arranged at the front ends of the body side beams 200, so that the ultrasonic detection assemblies 400 are arranged on the two sides of the front of the crawler-type photovoltaic cleaning robot, and the detection requirements in most scenes can be met through the arrangement. For example, when the ultrasonic detection assembly 400 is driven straight forward, once the front side of the crawler-type photovoltaic cleaning robot is driven to the edge of the photovoltaic panel, the ultrasonic detection assembly 400 at the front side can detect the ultrasonic, and the crawler-type photovoltaic cleaning robot is controlled to stop or turn based on the detected ultrasonic, so as to avoid falling.

When the crawler-type photovoltaic cleaning robot turns left and right, taking right turning as an example, the part facing the edge of the photovoltaic panel is the front right side of the crawler-type photovoltaic cleaning robot, once the front right side of the crawler-type photovoltaic cleaning robot moves to the edge of the photovoltaic panel, the ultrasonic detection assembly 400 on the front right side can detect the photovoltaic panel, and the crawler-type photovoltaic cleaning robot is controlled to stop or turn to the opposite direction based on the ultrasonic detection assembly 400 so as to avoid falling. The left turn may refer to the right turn, and will not be described again.

For a crawler-type photovoltaic cleaning robot capable of running in both directions, both front and rear sides of the robot face a drop risk first, so that it is necessary to provide ultrasonic detection assemblies 400 at both ends of the body side member 200. The ultrasonic probe assembly 400 is provided at both ends of the body side member 200 as an example. For the crawler-type photovoltaic cleaning robot capable of running in two directions, the ultrasonic detection assemblies 400 are arranged at the four corners of the crawler-type photovoltaic cleaning robot, so that detection requirements of the crawler-type photovoltaic cleaning robot in most scenes such as forward movement, backward movement, left and right steering and the like can be met. The anti-falling principle under different forms of directions can be referred to the crawler-type photovoltaic cleaning robot which runs unidirectionally disclosed in the embodiment.

Because the body frames are provided with the body side members 200 at both sides of the battery carrier 100 and the ultrasonic detection assemblies 400 are provided at both ends of each body side member 200, the body frames are provided with the ultrasonic detection assemblies 400 at four corners, that is, the body frames have four ultrasonic detection assemblies 400 in total. As will be appreciated by those skilled in the art, the ultrasonic detection assembly 400 is used to detect the positional relationship of the tracked photovoltaic cleaning robot to the photovoltaic panel to avoid the risk of the tracked photovoltaic cleaning robot walking to the edge of the photovoltaic panel and being dropped from the edge of the photovoltaic panel to damage.

In this embodiment, ultrasonic detection subassembly 400 has all been arranged at four corners at the fuselage frame, can guarantee that crawler-type photovoltaic cleans the robot optional position when walking to the edge of photovoltaic board, all can be surveyed by ultrasonic detection subassembly 400, has improved the security when crawler-type photovoltaic cleans the robot operation.

As shown in fig. 4 to 7, the ultrasonic probe assembly 400 includes an ultrasonic sensor fixing plate 420, an ultrasonic sensor 440, and an ultrasonic sensor fixing seat 430. In this embodiment, the ultrasonic detection assembly 400 also adopts a detachable structure, so that any detachable component in the ultrasonic detection assembly 400 can be replaced independently after being damaged, thereby reducing maintenance cost.

The ultrasonic sensor 440 is disposed on the ultrasonic sensor fixing plate 420 for detecting a distance from the photovoltaic panel. It will be appreciated by those skilled in the art that when the tracked photovoltaic cleaning robot walks at the safe position of the photovoltaic panel, the ultrasonic sensor 440 is located above the photovoltaic panel, i.e. the distance detected by the ultrasonic sensor 440 is small (i.e. the distance detected by the ultrasonic sensor 440 is within the preset distance range), and either side of the tracked photovoltaic cleaning robot is moved to the edge of the photovoltaic panel, so that the ultrasonic sensor 440 at the corresponding position is moved outside the photovoltaic panel, i.e. the ultrasonic sensor 440 cannot detect the photovoltaic panel downwards, but detects the distance of the object below the photovoltaic panel, which will definitely result in a large distance value (i.e. the distance detected by the ultrasonic sensor 440 is greater than the upper limit value of the preset distance range), it can be determined that the corresponding side of the tracked photovoltaic cleaning robot is moved outside the photovoltaic panel, and the tracked photovoltaic cleaning robot needs to adjust the route to avoid falling.

In addition, after the ultrasonic sensor 440 is mounted to the ultrasonic sensor fixing plate 420, in order to prevent the ultrasonic waves emitted from the ultrasonic sensor 440 from being blocked by the ultrasonic sensor fixing plate 420, an avoidance groove needs to be formed in the ultrasonic sensor fixing plate 420 at a position corresponding to the transmitting end of the ultrasonic sensor 440, so as to avoid the influence of the blocking of the ultrasonic waves by the ultrasonic sensor fixing plate 420 on the detection effect. It should be noted that, the relationship between the ultrasonic sensor 440 and the avoidance groove may be arbitrary, and in general, the ultrasonic sensor 440 should be mounted on the upper side of the ultrasonic sensor fixing plate 420, and the transmitting end of the ultrasonic sensor 440 may be located above the upper surface of the ultrasonic sensor fixing plate 420, may be located below the lower surface of the ultrasonic sensor fixing plate 420, or may be located between the upper and lower surfaces of the ultrasonic sensor fixing plate 420.

In addition, the ultrasonic sensor fixing plate 420 may not be provided with a recess, as long as the ultrasonic sensor fixing plate 420 does not block the ultrasonic waves emitted from the ultrasonic sensor 440. For example, the ultrasonic sensor 440 may be fixed to the lower side of the ultrasonic sensor fixing plate 420, and since the ultrasonic waves are emitted downward, the ultrasonic sensor fixing plate 420 located above the ultrasonic sensor 440 does not block the ultrasonic waves, and thus the avoiding groove does not need to be formed.

The ultrasonic sensor fixing base 430 is detachably fixed to the ultrasonic sensor fixing plate 420 and the body side member 200, respectively. The ultrasonic sensor holder 430 is provided with a first holder hole 434 and a second holder hole 435. Correspondingly, the ultrasonic sensor fixing plate 420 has a fixing plate fixing hole 421 and the body side member 200 has a sensor fixing hole 212.

When the ultrasonic detection assembly 400 is installed, the first fixing seat hole 434 corresponds to the fixing plate fixing hole 421 and is fixed by penetrating the fastener, so that the ultrasonic sensor fixing seat 430 and the ultrasonic sensor fixing plate 420 are fixed. The assembled ultrasonic probe assembly 400 is then integrally mounted to the body side rail 200. Specifically, the second fixing seat hole 435 corresponds to the sensor fixing hole 212, and is fixed by penetrating a fastener, so that the fixing of the ultrasonic sensor fixing seat 430 to the body side beam 200 is realized, and then the detachable installation of the ultrasonic detection assembly 400 on the body side beam 200 is realized.

It should be noted that, the ultrasonic detection assembly 400 is disposed at four corners of the frame of the body, so that the ultrasonic detection assembly is more likely to collide with other objects and be damaged by the collision. In order to protect the ultrasonic sensor 440, in the present embodiment, an ultrasonic sensor cover 410 fixed to the ultrasonic sensor holder 430 is added, and the ultrasonic sensor cover 410 is covered on the outer side of the ultrasonic sensor 440. The ultrasonic sensor cover 410 may also be detachably fixed to the ultrasonic sensor holder 430. Specifically, the third fixing base hole 433 may be provided in the ultrasonic sensor fixing base 430, and the sensor cover fixing hole 413 may be provided in the ultrasonic sensor cover 410. When the ultrasonic sensor cover 410 is mounted, the sensor cover fixing hole 413 and the third fixing seat hole 433 can be corresponding, and the fastener can be penetrated to fix, thereby realizing the fixation of the ultrasonic sensor cover 410 and the ultrasonic sensor fixing seat 430.

In order to facilitate the fixing of the ultrasonic sensor cover 410 and the ultrasonic sensor fixing plate 420 to the ultrasonic sensor fixing base 430, the ultrasonic sensor fixing base 430 may have a first support arm 431 and a second support arm 432 parallel to each other, and the ultrasonic sensor cover 410 and the ultrasonic sensor fixing plate 420 are respectively mounted on the two support arms, which is advantageous for the fixing of the two on the ultrasonic sensor fixing base 430.

Specifically, the third fixing base hole 433 is disposed on the first support arm 431, and the first fixing base hole 434 is disposed on the second support arm 432. The ultrasonic sensor cover 410 may include a top plate 411 and a side plate 412, and a sensor cover fixing hole 413 is opened on the top plate 411. The side plate 412 is a semi-surrounding side plate, that is, the ultrasonic sensor 440 need only be covered along the outer side of the crawler-type photovoltaic cleaning robot, and the side facing the middle of the crawler-type photovoltaic cleaning robot may not collide with other components, and thus may not be protected. After the ultrasonic probe assembly 400 is mounted, the top plate 411 of the ultrasonic sensor cover 410 is parallel to the ultrasonic sensor fixing plate 420, and the ultrasonic sensor fixing plate 420 is positioned at the lower side of the top plate 411.

In one embodiment of the present utility model, the ultrasonic sensor 440 may be fixed to the ultrasonic sensor fixing plate 420 by the positioning posts 422. Through the fixed mode of locator card post 422 joint, can make ultrasonic sensor 440 have higher dismouting efficiency, it is more convenient to change after ultrasonic sensor 440 damages.

The positioning card columns 422 can be arranged on the ultrasonic sensor fixing plate 420, inserting spaces for inserting the ultrasonic sensors 440 are formed between the positioning card columns 422, and the ultrasonic sensors 440 are embedded into the inserting spaces surrounded by the positioning card columns 422. In this embodiment, a plurality of positioning card posts 422 may be disposed outside the fixed position of each ultrasonic sensor 440, so that the ultrasonic sensor 440 is inserted into the range enclosed by each positioning card post 422. The positioning card post 422 can have a certain elasticity, so that the positioning card post 422 can hold the ultrasonic sensor 440 tightly, and the ultrasonic sensor 440 is prevented from loosening.

In addition, the positioning card post 422 may be disposed on the outer wall of the ultrasonic sensor 440, for example, the positioning card post 422 and the outer wall of the ultrasonic sensor 440 may be designed as an integrated structure, and the positioning card post 422 may be fixed on the outer wall of the ultrasonic sensor 440. The ultrasonic sensor fixing plate 420 is provided with a slot into which the positioning card post 422 is inserted. When the ultrasonic sensor 440 is mounted, the positioning card post 422 can be inserted into the slot of the ultrasonic sensor fixing plate 420, so as to realize the relative fixation of the ultrasonic sensor 440 and the ultrasonic sensor fixing plate 420.

In this embodiment, the ultrasonic detection assembly 400 includes at least two ultrasonic sensors 440, and the connection line of the at least two ultrasonic sensors 440 is not perpendicular to and parallel to the extending direction of the body side beam 200, so that the installation positions of the two ultrasonic sensors 440 are staggered. Those skilled in the art will appreciate that if only one ultrasonic sensor 440 is disposed, there may be a risk of false alarms. For example, when the crawler-type photovoltaic cleaning robot walks between two photovoltaic panels, there may be a risk that the ultrasonic sensor 440 just corresponds to a gap between the photovoltaic panels, so that the photovoltaic panels cannot be detected, and the crawler-type photovoltaic cleaning robot walks to the edges of the photovoltaic panels.

In this embodiment, at least two ultrasonic sensors 440 are configured for one ultrasonic detection assembly 400, and the two ultrasonic sensors 440 are staggered, so that it is impossible for all the ultrasonic sensors 440 of one ultrasonic detection assembly 400 to detect gaps between photovoltaic panels at the same time, or the probability of detecting gaps between photovoltaic panels at the same time is very low. The above erroneous judgment can be avoided by setting up that all the ultrasonic sensors 440 of one ultrasonic detection assembly 400 can not detect the photovoltaic panel and judge to walk to the edge of the photovoltaic panel.

As shown in fig. 7, the ultrasonic sensor fixing plate 420 includes a first plate body and a second plate body with a preset angle, and two ultrasonic sensors 440 are respectively disposed on the first plate body and the second plate body, so that the two ultrasonic sensors 440 can be staggered, that is, the two ultrasonic sensors 440 are not on a straight line in the head-to-tail direction and the width direction of the crawler-type photovoltaic cleaning robot. One of the first plate body and the second plate body is fixed to the ultrasonic sensor fixing base 430, and the other is not perpendicular to the body side member 200. Specifically, the predetermined angle between the first plate and the second plate may be 90 ° such that one of the first plate and the second plate is perpendicular to the body side rail 200 and the other is parallel to the body side rail 200 after the ultrasonic probe assembly 400 is mounted to the body side rail 200.

Taking the first plate body and the body side member 200 as an example, the first plate body is fixed on the ultrasonic sensor fixing seat 430, after the ultrasonic detection assembly 400 is mounted on the body side member 200, the first plate body gradually extends along the direction perpendicular to the body side member 200 to the direction away from the body side member 200, and the second plate body extends along the direction parallel to the body side member 200 at the most distal end of the first plate body from the body side member 200, so that the size of the ultrasonic sensor fixing plate 420 which is designed into an L shape and extends out of the body side member 200 is smaller than the sum of the lengths of the first plate body and the second plate body, the extension width of the ultrasonic detection assembly 400 is reduced, and the integral width of the body frame is reduced.

The embodiment of the utility model also discloses a crawler-type photovoltaic cleaning robot, which comprises the machine body frame disclosed in the embodiment, and has all the technical effects of the machine body frame because of the machine body frame, and the crawler-type photovoltaic cleaning robot is not repeated herein.

As used in the specification and in the claims, the terms "a," "an," "the," and/or "the" are not specific to a singular, but may include a plurality, unless the context clearly dictates otherwise. In general, the terms "comprises" and "comprising" merely indicate that the steps and elements are explicitly identified, and they do not constitute an exclusive list, as other steps or elements may be included in a method or apparatus. The inclusion of an element as defined by the phrase "comprising one does not exclude the presence of additional like elements in a process, method, article, or apparatus that comprises an element.

In the description of the present application, unless explicitly defined otherwise, terms such as arrangement, installation, connection, etc. should be construed broadly and the specific meaning of the terms in the present application can be reasonably determined by a person skilled in the art in combination with the specific contents of the technical scheme.

In the present specification, each embodiment is described in a progressive manner, and each embodiment is mainly described in a different point from other embodiments, and identical and similar parts between the embodiments are all enough to refer to each other.

The principles and embodiments of the present utility model have been described herein with reference to specific examples, the description of which is intended only to facilitate an understanding of the method of the present utility model and its core ideas. It should be noted that it will be apparent to those skilled in the art that various modifications and adaptations of the utility model can be made without departing from the principles of the utility model and these modifications and adaptations are intended to be within the scope of the utility model as defined in the following claims.

Claims (18)

1. The frame is used for a crawler-type photovoltaic cleaning robot and is characterized by comprising a battery carrier (100) and frame side beams (200) arranged on two sides of the battery carrier (100), wherein the frame side beams (200) are detachably connected with the battery carrier (100);

the battery carrier (100) is used for installing a power supply battery, and the body side beam (200) is used for installing a travelling mechanism.

2. The fuselage frame according to claim 1, characterized in that the fuselage side beams (200) on both sides of the battery carrier (100) are detachably connected by at least one tie rod (300).

3. The airframe according to claim 2, characterized in that said tie rods (300) are at least two, and wherein at least one of said tie rods (300) is connected to a first end of said airframe side rail (200), at least one of said tie rods (300) is connected to a second end of said airframe side rail (200), said battery carrier (100) is located between said tie rods (300) at both ends of said airframe side rail (200), and/or,

The ends of the two ends of the pull rod (300) are respectively abutted against the plate surfaces of the side beams (200) of the machine body at the two sides of the battery carrier (100) and are fixed through fasteners.

4. The airframe as defined in claim 1, wherein said battery carrier (100) comprises:

a carrier body (110), the carrier body (110) having a battery mounting portion (111) for mounting the power supply battery;

The carrier flanging (120) is arranged at two ends of the carrier body (110) along a first direction, two ends of the carrier flanging (120) along a second direction are respectively and detachably fixed on the side beams (200) of the battery carrier (100) on two sides of the battery carrier, and the first direction and the second direction are two directions perpendicular to each other.

5. The airframe of claim 4 wherein said carrier body (110) has limiting plate edges (113) on both sides in said second direction, said limiting plate edges (113) on either side of said carrier body (110) being in registry with said airframe side beams (200) on the same side.

6. The fuselage frame of claim 4, wherein the carrier flange (120) has flange fixing portions (121) at both ends in the second direction, the flange fixing portions (121) extending to the outside of the carrier body (110) in the second direction, the flange fixing portions (121) at either end of the carrier flange (120) being detachably fixed to the fuselage side members (200) at the same side.

7. The frame according to claim 4, wherein the battery mounting portion (111) is a battery fitting groove located in a middle portion of the carrier body (110).

8. The frame according to claim 4, characterized in that the carrier body (110) is provided with a harness portion (112) for fixing the wiring on an outer platform (114) of the battery mounting portion (111).

9. The airframe of claim 1 wherein said airframe side sill (200) includes a side sill body (210) and a side sill flange (220) on said side sill body (210), said battery carrier (100) being removably attached to said side sill flange (220).

10. The airframe of claim 9 wherein said side rail flanges (220) are located at least on either of the upper and lower sides of said side rail body (210) and said side rail flanges (220) extend away from said battery carrier (100).

11. The airframe of any one of claims 1-10 wherein at least one end of said airframe side beam (200) is removably secured with an ultrasonic detection assembly (400).

12. The fuselage frame of claim 11, wherein the fuselage side beams (200) are removably secured at both ends with ultrasonic probe assemblies (400) and/or,

The ultrasonic detection assembly (400) includes:

an ultrasonic sensor fixing plate (420);

an ultrasonic sensor (440) disposed on the ultrasonic sensor fixing plate (420) for detecting a distance from the photovoltaic panel;

The ultrasonic sensor fixing base (430) is detachably fixed on the ultrasonic sensor fixing plate (420) and the body side beam (200) respectively.

13. The airframe of claim 12 wherein said ultrasonic detection assembly (400) further comprises an ultrasonic sensor cover (410) secured to said ultrasonic sensor mount (430), said ultrasonic sensor cover (410) covering an outside of said ultrasonic sensor (440).

14. The airframe of claim 12 wherein said ultrasonic sensor (440) is secured to said ultrasonic sensor mounting plate (420) by a locator card post (422).

15. The frame according to claim 14, wherein the positioning posts (422) are disposed on the ultrasonic sensor fixing plate (420), and a plugging space for plugging the ultrasonic sensor (440) is formed between the positioning posts (422), or

The positioning clamp column (422) is arranged on the outer wall of the ultrasonic sensor (440), and the ultrasonic sensor fixing plate (420) is provided with a slot for the positioning clamp column (422) to be inserted.

16. The airframe of claim 12 wherein said ultrasonic detection assembly (400) includes at least two of said ultrasonic sensors (440), and wherein the connection line of at least two of said ultrasonic sensors (440) is non-perpendicular and non-parallel to the direction of extension of said airframe side beams (200).

17. The airframe of claim 16 wherein said ultrasonic sensor mounting plate (420) includes a first plate body and a second plate body at a predetermined angle, two of said ultrasonic sensors (440) are disposed on said first plate body and said second plate body, respectively, and one of said first plate body and said second plate body is secured to said ultrasonic sensor mounting plate (430) and the other is non-perpendicular to said airframe side rail (200).

18. A track-type photovoltaic cleaning robot comprising a fuselage frame as claimed in any one of claims 1 to 17.