Photovoltaic cleaning robot

Abstract

The present application relates to a photovoltaic cleaning robot, comprising more than two cleaning units, which are rotatably connected in sequence; wherein a folding mechanism is installed between each two adjacent cleaning units, and the folding mechanism is used to fold or unfold the cleaning units. It realizes the transportation of the whole machine, avoids on-site assembly, reduces the transportation cost, and reduces the construction time and construction cost.

Description

Technical Field

[0001] The present disclosure relates to the field of robots, and in particular to a photovoltaic cleaning robot. Background Art

[0002] According to global market research, the photovoltaic power generation industry is growing rapidly. The factors that most affect power generation in the photovoltaic power generation industry are dust, sunlight, and bird droppings. Among them, the natural environment of Rizhao City cannot be changed, but robots are currently used for cleaning and maintenance of dust and bird droppings.

[0003] However, since various robots on the market are assembled and debugged on site, they are all transported in parts, which makes transportation very inconvenient. Summary of the invention

[0004] In view of this, the present disclosure proposes a photovoltaic cleaning robot, which realizes the transportation of the entire machine, avoids on-site assembly, reduces the cost of transportation, and reduces the construction time and construction costs.

[0005] According to one aspect of the present disclosure, there is provided a photovoltaic cleaning robot, comprising two or more cleaning units, wherein the two or more cleaning units are rotatably connected in sequence;

[0006] Wherein, a folding mechanism is installed between every two adjacent cleaning units, and the folding mechanism is used to fold or unfold the cleaning units.

[0007] In a possible implementation, the folding mechanism includes a folding shaft, a fixing frame, a rotating gear and a first driving device;

[0008] The fixing frame is fixedly mounted on the first cleaning unit or the second cleaning unit, wherein the first cleaning unit and the second cleaning unit are two cleaning units arranged adjacent to each other;

[0009] The folding shaft is rotatably mounted on the fixing frame, and the axis of the folding shaft is arranged parallel to the rotation axis of the first cleaning unit;

[0010] A mechanical arm is fixed on the end surface of the folding shaft, and the mechanical arm is fixedly connected to the second cleaning unit;

[0011] The rotating gear is installed on the shaft body of the folding shaft, and the rotating gear is coaxially arranged with the folding shaft. The first driving device is fixedly installed on the first cleaning unit. The output shaft end of the first driving device is provided with a driving gear, and the driving gear of the first driving device is meshed with the rotating gear.

[0012] In a possible implementation, the mechanical arm includes a left mechanical arm and a right mechanical arm that are arranged opposite to each other;

[0013] The left mechanical arm is located at one end of the folding shaft and connected between the folding shaft and the second cleaning unit;

[0014] The right mechanical arm is located at the other end of the folding shaft and is connected between the folding shaft and the second cleaning unit.

[0015] In a possible implementation, the end surface of the folding shaft is polygonal, and the inner wall of the rotating gear matches the folding shaft;

[0016] There are more than two fixing frames, and the more than two fixing frames are arranged along the axis center line of the folding axis.

[0017] In a possible implementation, the end surface of the folding axis is arranged in a rectangular shape.

[0018] In a possible implementation, two fixing frames are provided, and the two fixing frames are respectively located on both sides of the rotating gear; wherein the structures of the two or more fixing frames are the same;

[0019] The fixing frame includes a base and a support member, and the base is fixedly mounted on the first cleaning unit;

[0020] The support member is annular and vertically arranged on a side of the base that is not connected to the first cleaning unit. The folding axis passes through an inner hole of the support member, and an edge of the folding axis abuts against an inner wall of the support member.

[0021] In a possible implementation, the folding mechanism further includes an electric locking device, which is fixedly mounted on a side where the first cleaning unit is connected to the second cleaning unit, and the electric locking device is disposed adjacent to an edge of the first cleaning unit;

[0022] The locking rod of the electric locking device is used to lock the second cleaning unit when the first cleaning unit and the second cleaning unit are parallel.

[0023] In a possible implementation, a laser receiving device is provided on a side wall of the first cleaning unit facing the second cleaning unit, and a laser emitting device is provided on a side wall of the second cleaning unit facing the first cleaning unit;

[0024] Wherein, the laser emitting device and the laser receiving device are arranged correspondingly, and the electric locking device is driven by a motor;

[0025] When the first cleaning unit and the second cleaning unit are parallel, the laser receiving device receives the laser emitted by the laser emitting device, and the motor controls the locking rod in the electric locking device to extend and lock the second cleaning unit.

[0026] In a possible implementation, each cleaning unit is provided with a cleaning roller and a driving device.

[0027] The driving device is fixedly mounted on the cleaning unit, the cleaning roller is fixedly mounted on an output shaft of the driving device, and the cleaning roller is arranged in a reverse direction from the upper side of the cleaning unit to the lower side of the cleaning unit.

[0028] In a possible implementation, a bearing is provided at one end of the cleaning roller connected to the driving device, an inner ring of the bearing is sleeved on the outside of the cleaning roller, and an outer ring of the cleaning roller is fixed to the cleaning unit.

[0029] The photovoltaic cleaning robot of the embodiment of the present application is provided with a folding mechanism to control the folding and unfolding of each cleaning unit, so that more than two cleaning units can be folded into one cleaning unit, and the number of cleaning units can be increased at will through the folding mechanism. When transporting the photovoltaic cleaning robot of the embodiment of the present application, the present application can be assembled and debugged before transportation, avoiding assembly and debugging on site. Thus, a large amount of time is saved, and the construction costs of the project site are directly reduced by at least 80% through professional calculation. When transporting the photovoltaic cleaning robot of the embodiment of the present application, since more than two cleaning units can be folded into the size of one cleaning unit, the occupied space during transportation is reduced, and the whole machine can be transported instead of parts, which reduces the manpower and material resources during transportation, and reduces the transportation cost by at least 50%.

[0030] Further features and aspects of the present disclosure will become apparent from the following detailed description of exemplary embodiments with reference to the attached drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] The accompanying drawings, which are incorporated in and constitute a part of the specification, illustrate exemplary embodiments, features, and aspects of the disclosure and, together with the description, serve to explain the principles of the disclosure.

[0032] Figure 1 A main structure diagram of a photovoltaic cleaning robot according to an embodiment of the present disclosure is shown;

[0033] Figure 2 A main structural diagram of the folding mechanism of the photovoltaic cleaning robot according to an embodiment of the present disclosure is shown. DETAILED DESCRIPTION

[0034] Various exemplary embodiments, features and aspects of the present disclosure will be described in detail below with reference to the accompanying drawings. The same reference numerals in the accompanying drawings represent elements with the same or similar functions. Although various aspects of the embodiments are shown in the accompanying drawings, the drawings are not necessarily drawn to scale unless otherwise specified.

[0035] Among them, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise", "axial", "radial", "circumferential" and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention or simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation to the present invention.

[0036] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include one or more of the features. In the description of the present invention, the meaning of "plurality" is two or more, unless otherwise clearly and specifically defined.

[0037] The word “exemplary” is used exclusively herein to mean “serving as an example, example, or illustration.” Any embodiment described herein as “exemplary” is not necessarily to be construed as preferred or advantageous over other embodiments.

[0038] In addition, in order to better illustrate the present disclosure, numerous specific details are given in the following specific embodiments. It should be understood by those skilled in the art that the present disclosure can also be implemented without certain specific details. In some examples, methods, means, components and circuits well known to those skilled in the art are not described in detail in order to highlight the subject matter of the present disclosure.

[0039] Figure 1 A main structural diagram of a photovoltaic cleaning robot according to an embodiment of the present disclosure is shown. Figure 2 FIG. 2 shows a main structure diagram of a folding mechanism 300 of a photovoltaic cleaning robot according to an embodiment of the present disclosure. Figure 1 or Figure 2 As shown, the photovoltaic cleaning robot includes: more than two cleaning units, which are rotatably connected in sequence, wherein a folding mechanism 300 is installed between each two adjacent cleaning units, and the folding mechanism 300 is used to fold or unfold the cleaning units.

[0040] The photovoltaic cleaning robot of the embodiment of the present application is provided with a folding mechanism 300 to control the folding and unfolding of each cleaning unit, so that more than two cleaning units can be folded into one cleaning unit, and the number of cleaning units can be increased at will through the folding mechanism 300. When transporting the photovoltaic cleaning robot of the embodiment of the present application, the present application can be assembled and debugged before transportation, avoiding assembly and debugging on site. Thus, a large amount of time is saved, and the construction costs of the project site are directly reduced by at least 80% through professional calculation. When transporting the photovoltaic cleaning robot of the embodiment of the present application, since more than two cleaning units can be folded into the size of one cleaning unit, the occupied space during transportation is reduced, and the whole machine can be transported instead of parts, which reduces the manpower and material resources during transportation, and reduces the transportation cost by at least 50%.

[0041] In a possible implementation, the folding mechanism 300 includes a folding shaft 310, a fixing frame 320, a rotating gear 330 and a first driving device 340. The fixing frame 320 is fixedly mounted on the first cleaning unit 100 or the second cleaning unit 200, wherein the first cleaning unit 100 and the second cleaning unit 200 are two cleaning units arranged adjacent to each other. The folding shaft 310 is rotatably mounted on the fixing frame 320, the axis of the folding shaft 310 is arranged parallel to the rotation axis of the first cleaning unit 100, a mechanical arm 350 is fixed on the end face of the folding shaft 310, and the mechanical arm 350 is fixedly connected to the second cleaning unit 200. The rotating gear 330 is mounted on the shaft body of the folding shaft 310, the rotating gear 330 is arranged coaxially with the folding shaft 310, the first driving device 340 is fixedly mounted on the first cleaning unit 100, the output shaft end of the first driving device 340 is provided with a driving gear, and the driving gear of the first driving device 340 is meshed with the rotating gear 330.

[0042] Here, it should be noted that, that is, the first cleaning unit 100 and the second cleaning unit 200 constitute a structure that can be opened and closed (that is, the first cleaning unit 100 rotates around the second cleaning unit 200 around the rotation axis, or the second cleaning unit 200 rotates around the first cleaning unit 100 around the rotation axis). The first cleaning unit 100 and the second cleaning unit 200 can be connected by an intermediate component, and the intermediate component is arranged along the rotation axis of the first cleaning unit 100 and the second cleaning unit 200. The middle mechanical arm 350 is in the shape of an arched plate, so that a placement space is formed between the intermediate connecting plate and the first cleaning unit 100 and the second cleaning unit 200, so that the fixed frame 320 can be placed in the placement space. In a possible implementation, a first fixing plate and a second fixing plate are provided at both ends of the intermediate component, the first fixing plate is fixedly connected to the first cleaning unit 100, and the first fixing plate is rotatably connected to the intermediate component (can be hinged). As mentioned above, the second fixing plate is fixedly connected to the second cleaning unit 200, and the second fixing plate is rotatably connected to the intermediate component (it may also be hinged).

[0043] Here, it should also be pointed out that two intermediate components can be provided, a distance is provided between the two intermediate components, and the rotating gear 330 is installed between the two intermediate components.

[0044] Here, it should also be noted that the photovoltaic cleaning robot of the embodiment of the present application is also provided with a main controller 110, a power module 140 (lithium battery), a power switch 120 and a display module 130, wherein the power switch 120 is arranged in series with the power module 140 so that the power switch 120 can control the opening and closing of the power module 140. The power module 140 supplies power to each electrical device on the first cleaning unit 100, the second cleaning unit 200 and the first driving device 340. The display module 130 is provided with a communication module for communicating with the main controller 110, and the display module 130 is provided with a start button. When the start button on the display module 130 is touched, the communication module in the display module 130 transmits a command signal to the main controller 110, and the main controller 110 sends a control command to the corresponding device after receiving the command signal (that is, the main controller 110 is also provided with a communication module), so as to drive the corresponding device to work. Here, it should also be noted that the display module 130 also includes a liquid crystal display screen, and the present application also includes a power interface (24V), thereby charging the power module through the power interface.

[0045] Here, it should be pointed out that the first drive device 340 is a drive motor, and in a possible implementation, a reducer can be arranged between the first drive device 340 and the rotating gear 330, so that the drive gear of the first drive device 340 is meshed with the input end of the reducer, and the output end of the reducer is meshed with the rotating gear 330.

[0046] Here, it should also be pointed out that the main controller is a conventional technical means for those skilled in the art and will not be described in detail here.

[0047] The photovoltaic cleaning robot of the embodiment of the present application is set to be foldable by setting the folding mechanism 300. The fixing frame 320 is fixed on the first cleaning unit 100, and the folding shaft 310 is rotatably mounted on the fixing frame 320, thereby stabilizing the folding shaft 310, so that the folding shaft 310 can provide stable folding power transmission. When the photovoltaic cleaning robot of the embodiment of the present application is folded, the power switch 120 is turned on first, and then the start button on the display module 130 is clicked, so that the main controller 110 controls the first driving device 340 to work, so that the driving gear on the output shaft of the first driving device 340 rotates, the driving gear drives the rotating gear 330 to rotate, and the rotating gear 330 drives the folding shaft 310 to rotate. Since the folding shaft 310 is provided with a mechanical arm 350, and the mechanical arm 350 is connected to the second cleaning unit 200, the folding shaft 310 transmits the folding power to the second cleaning unit 200 through the mechanical arm 350 to rotate, driving the second cleaning unit 200 to unfold. When the first cleaning unit 100 is parallel to the second cleaning unit 200, the first driving device 340 stops rotating. When the embodiment of the present application needs to be folded, the first driving device 340 is reversed (the first driving device 340 in the unfolded state is forward), driving the transmission gear to reverse, and the rotating gear 330 drives the folding shaft 310 to reverse, and the folding shaft 310 transmits the folding power to the second cleaning unit 200 through the mechanical arm 350 to rotate, driving the second cleaning unit 200 to fold. As a result, the photovoltaic cleaning robot of the embodiment of the present application can freely fold and unfold the first cleaning unit 100 and the second cleaning unit 200 through the folding mechanism 300, so that the present application can be transported as a whole during transportation, and the space occupied is small, which reduces the transportation cost. During construction, no on-site assembly is required, which reduces the construction links, saves a lot of installation cycles, and improves efficiency.

[0048] In a possible implementation, the mechanical arm 350 includes a left mechanical arm 351 and a right mechanical arm 352, the left mechanical arm 351 and the right mechanical arm 352 are arranged opposite to each other, the left mechanical arm 351 is fixedly mounted on one end of the folding shaft 310, and the left mechanical arm 351 is connected between the folding shaft 310 and the second cleaning unit 200. The right mechanical arm 352 is fixedly mounted on the other end of the folding shaft 310, and the right mechanical arm 352 is connected between the folding shaft 310 and the second cleaning unit 200.

[0049] Furthermore, in a possible implementation, the right mechanical arm 352 includes a fixing rod and a pushing plate, the fixing rod and the pushing plate are connected in an "L" shape, the fixing rod is polygonal, both ends of the folding shaft 310 are provided with fixing holes that match the fixing rod, and the fixing rod is installed in any of the fixing holes. The pushing plate is in the shape of a rectangular plate, and the fixing plate is arranged on a side wall of the pushing plate, and the plate surface of the pushing plate can be connected to the second cleaning unit 200 by bolts. The structure of the left mechanical arm 351 is the same as that of the right mechanical arm 352.

[0050] In a possible implementation, the end surface of the folding shaft 310 is polygonal, and the inner wall of the rotating gear 330 matches the folding shaft 310. As mentioned above, more than two fixing frames 320 are provided, and the more than two fixing frames 320 are arranged along the axis of the folding shaft 310.

[0051] Furthermore, in a possible implementation, the end surface of the folding shaft 310 is in a "mouth" shape, thereby making it easier for the rotating gear 330 to cooperate with the folding shaft 310, so that the rotating gear 330 can more easily drive the folding shaft 310 to rotate.

[0052] Furthermore, in a possible implementation, two fixing frames 320 are provided, and the two fixing frames 320 are respectively adjacent to the two end surfaces of the folding shaft 310, wherein the structures of the two or more fixing members are the same. The fixing member includes a base (the base is plate-shaped) and a support member, the base is fixedly mounted on the first cleaning unit 100, the support member is annular, and the support member is vertically arranged on the side of the base that is not connected to the first cleaning unit 100 (vertical arrangement means that the outer wall of the support member is fixed to the base, and the axis of the support member is arranged flush with the plate surface of the base), and the folding shaft 310 is arranged to pass through the inner hole of the support member, and the edge of the folding shaft 310 abuts against the inner wall of the support member.

[0053] Furthermore, in a possible implementation, the base includes a first base and a second base, the side wall of the support is provided with an opening, and the first base and the second base are respectively fixed to the end surfaces of the two openings of the support, so that the first base, the support and the second base are arranged in an "Ω" shape. Moreover, the first base and the second base can be connected to the first cleaning unit 100 by bolts.

[0054] In a possible implementation, the folding mechanism 300 further includes an electric lock device 400. The electric lock device 400 is fixedly installed on the first cleaning unit 100, and is disposed adjacent to the connection between the first cleaning unit 100 and the second cleaning unit 200. The electric lock device 400 is adjacent to the edge position of the first cleaning unit 100 (i.e., the electric lock device 400 is disposed between the end face of the folding shaft 310 and the side wall of the first cleaning unit 100). The lock rod of the electric lock device 400 is used to lock the second cleaning unit 200 when the first cleaning unit 100 and the second cleaning unit 200 are parallel.

[0055] Here, it should be noted that a lock hole is provided at the position of the second cleaning unit 200 corresponding to the lock rod of the electric lock device 400. The lock hole matches the lock rod of the electric lock device 400, so that the lock rod of the electric lock device 400 can extend into the lock hole to lock the second cleaning unit 200.

[0056] Furthermore, in a possible implementation, a laser receiving device is provided on the side wall of the first cleaning unit 100 facing the second cleaning unit 200, and a laser emitting device is provided on the side wall of the second cleaning unit 200 facing the first cleaning unit 100. Among them, the laser emitting device and the laser receiving device are correspondingly arranged, and the electric lock device 400 relies on a motor to drive the lock rod to extend and retract. When the first cleaning unit 100 and the second cleaning unit 200 are parallel, the laser receiving device receives the laser emitted by the laser emitting device, and the motor controls the lock rod in the electric lock device 400 to extend and lock the second cleaning unit 200.

[0057] Furthermore, in a possible implementation, there are two electric lock devices 400. The two electric lock mechanisms are respectively arranged at both ends of the folding shaft 310, and there are two pairs of laser emitting devices and laser receiving devices corresponding to the two electric lock devices 400.

[0058] Here, it should be noted that the motor can control the gear transmission mechanism in the electric lock device 400 through a gear to control the extension and retraction of the retractable rod. And the internal setting of the electric lock device 400 is common knowledge for those skilled in the relevant art, and will not be elaborated here. The laser receiving device can be a sensor, thus forming a common technical means for a sensor to control a servo motor. Therefore, the process of the laser receiving device controlling the servo motor will not be elaborated.

[0059] In the embodiment of the present application, by setting the electric lock device 400, when the first cleaning unit 100 and the second cleaning unit 200 are in the unfolded state, the second cleaning unit 200 can be locked by the lock rod on the electric lock device 400, further stabilizing the unfolded structure.

[0060] In one possible implementation, each cleaning unit is provided with a cleaning roller and a driving device, the driving device is fixedly mounted on the cleaning unit, the cleaning roller is fixedly mounted on the output shaft of the driving device, and the cleaning roller is arranged in the reverse direction from the upper side of the cleaning unit to the lower side of the cleaning unit.

[0061] Furthermore, in a possible implementation, a bearing is provided at one end of the cleaning roller connected to the driving device, an inner ring of the bearing is sleeved on the outside of the cleaning roller, and an outer ring of the cleaning roller is fixed on the cleaning unit.

[0062] In the following, the first cleaning unit 100 and the second cleaning unit 200 are taken as examples. The first cleaning unit 100 is fixedly mounted with a first cleaning roller 500 and a first driving device, and the second cleaning unit 200 is fixedly mounted with a second cleaning roller 600 and a second driving device. The first cleaning roller 500 is rotatably connected to the output end of the first driving device, and the first cleaning roller 500 is arranged along the direction from the first cleaning unit 100 to the first cleaning unit 100. The second cleaning roller 600 is rotatably connected to the output shaft of the second driving device, and the second cleaning roller 600 is arranged along the direction from the second cleaning unit 200 to the first cleaning unit 100.

[0063] Furthermore, in a possible implementation, a first bearing is provided at one end of the first cleaning roller 500 that is not connected to the first driving device, the inner ring of the first bearing is sleeved on the outer wall of the first cleaning roller 500, and the outer ring of the first bearing is fixed to the first cleaning unit 100. A second bearing is provided at one end of the second cleaning roller 600 that is not connected to the second driving device, the inner ring of the second bearing is sleeved on the outer wall of the second cleaning roller 600, and the outer ring of the second bearing is fixed to the second cleaning unit 200. The axis of the first cleaning roller 500 and the axis of the second cleaning roller 600 are both arranged perpendicular to the axis of the folding shaft 310.

[0064] Here, it should be noted that brushes are provided on the outer side of the first cleaning roller 500 and the outer side of the second cleaning roller 600, and the first drive device and the second drive device are both motors. One side of the first cleaning roller 500 can be connected to the output shaft of the first drive device through a coupling so that the first drive device drives the first cleaning roller 500 to rotate. The settings of the second drive device and the second cleaning roller 600 are the same as those of the first cleaning roller 500 and the first drive device, and are not repeated here. And here, it should also be noted that the axis center line of the output shaft of the first drive device 340 is arranged to coincide with the axis center line of the first bearing, and the axis center line of the output shaft of the second drive device is arranged to coincide with the axis center line of the second bearing. As a result, the first cleaning roller 500 and the second cleaning roller 600 are arranged horizontally, which can better clean the surface of the photovoltaic panel.

[0065] Here, it can also be pointed out that, in another possible implementation, the outer ring of the first bearing can be fixed on the first mounting seat, and the first mounting seat can be connected to the first cleaning unit 100 by bolts. The outer ring of the second bearing can also be fixed on the second mounting seat, and the second mounting seat can be connected to the second cleaning unit 200 by bolts, and the structure of the second mounting seat is the same as that of the first mounting seat.

[0066] In a possible implementation, each cleaning unit is provided with a walking mechanism. Take the first cleaning unit 100 and the second cleaning unit 200 as an example: the first cleaning unit 100 is provided with a first walking mechanism, and the second cleaning unit 200 is provided with a second cleaning mechanism. The first cleaning unit 100 includes an upper walking motor, an upper driving wheel, and an upper driven wheel. The upper driving wheel and the upper driven wheel are both arranged on the side of the first cleaning unit 100 away from the folding shaft 310, and the axis centerline of the upper driving wheel and the axis centerline of the lower driven wheel are both perpendicular to the axis centerline of the folding shaft 310. The upper walking motor is arranged between the upper driving wheel and the upper driven wheel, wherein the upper walking motor controls the upper driving wheel to walk through gear transmission. The lower cleaning structure includes a lower walking motor, a lower driving wheel and a lower driven wheel. The lower driving wheel and the lower driven wheel are both arranged on the side of the second cleaning unit 200 away from the folding axis 310, and the axis center line of the lower driving wheel and the axis center line of the lower driven wheel are both perpendicular to the axis center line of the folding axis 310. The lower walking motor is arranged between the lower driving wheel and the lower driven wheel, wherein the lower walking motor controls the movement of the lower driving wheel through gear transmission.

[0067] Furthermore, in a possible implementation, an upper rotating gear is fixed to the side of the upper driving wheel facing inward (the inward refers to the side of the upper driving wheel facing the second cleaning unit 200), the upper rotating gear is coaxially arranged with the upper driving wheel, and the output shaft of the upper travel motor is provided with an upper motor gear, the upper motor gear is meshed with the upper rotating gear, thereby, the upper driving wheel can be controlled to rotate by the upper travel motor. When the upper driving wheel is displaced, it drives the upper driven wheel to rotate.

[0068] A lower rotating gear is fixed on the inner side of the lower driving wheel, the lower rotating gear is coaxially arranged with the lower driving wheel, and the output shaft of the lower travel motor is provided with a lower motor gear, which meshes with the lower rotating gear, thereby the lower driving wheel can be controlled to rotate by the lower travel motor. When the lower driving wheel is displaced, it drives the lower driven wheel to rotate.

[0069] In another possible implementation, the upper motor gear of the upper travel motor and the upper rotating gear of the upper driving wheel can be connected by a gear set mechanism, and the lower motor gear of the lower travel motor and the lower rotating gear of the lower driving wheel can be connected by a gear set mechanism, thereby achieving a deceleration effect.

[0070] In one possible implementation, the rims of the upper driving wheel, the upper driven wheel, the lower driving wheel and the lower driven wheel are all deep-groove rims. Since the upper driving wheel, the upper driven wheel, the lower driving wheel and the lower driven wheel can be inserted into the protrusions at the edge of the photovoltaic panel through the deep grooves, the photovoltaic cleaning robot of the embodiment of the present application can be stably placed on the photovoltaic panel.

[0071] Furthermore, in a possible implementation, the rims of the upper driving wheel, the upper driven wheel, the lower driving wheel and the lower driven wheel are all provided with patterns, thereby increasing the friction between the rims of the upper driving wheel, the upper driven wheel, the lower driving wheel and the lower driven wheel and the photovoltaic panel.

[0072] In one possible implementation, each cleaning unit is provided with a return position sensor 700 and a stop position sensor 700, and the above-mentioned return position sensor 700 and stop position sensor 700 are electrically connected to the walking mechanism in the cleaning unit, and the return position sensor 700 and the stop position sensor 700 are respectively arranged on both sides of the cleaning unit along the cleaning movement direction, and the return position sensor 700 and the stop position sensor 700 are both adjacent to the edge position of the cleaning unit.

[0073] Here, it should also be pointed out that when the return position sensor 700 detects that the photovoltaic cleaning robot implemented in the present application is in the return position, the upper travel motor, the lower travel motor, the first drive device and the second drive device will reverse, so that the first cleaning roller 500, the second cleaning roller 600, the upper driving wheel and the lower driving wheel are all reversed, and the photovoltaic cleaning robot of the embodiment of the present application will return from the return position to the initial position. When the parking position sensor 700 detects that the photovoltaic cleaning robot implemented in the present application is in the parking position, the upper travel motor, the lower travel motor, the first drive device and the second drive device stop moving. The way in which the first sensor and the second sensor control the upper travel motor, the lower travel motor, the first drive device and the second drive device is a conventional technical means of those skilled in the art, and will not be elaborated here.

[0074] The following embodiments of the present disclosure have been described, and the following description is exemplary, non-exhaustive, and not limited to the disclosed embodiments. Many modifications and variations will be apparent to those of ordinary skill in the art without departing from the scope and spirit of the described embodiments. The selection of terms used herein is intended to best explain the principles of the embodiments, practical applications, or improvements to the technology in the market, or to enable other persons of ordinary skill in the art to understand the embodiments disclosed herein.

Claims

1. A photovoltaic cleaning robot, It is characterized in that It comprises two cleaning units, which are rotatably connected; Wherein, a folding mechanism is installed between the two cleaning units, and the folding mechanism is used to fold or unfold the cleaning units; The folding mechanism comprises a folding shaft, a fixing frame, a rotating gear and a first driving device; The fixing frame is fixedly mounted on the first cleaning unit or the second cleaning unit, wherein the first cleaning unit and the second cleaning unit are two cleaning units arranged adjacent to each other; The folding shaft is rotatably mounted on the fixing frame, and the axis of the folding shaft is arranged parallel to the rotation axis of the first cleaning unit; A mechanical arm is fixed on the end surface of the folding shaft, and the mechanical arm is fixedly connected to the second cleaning unit; The rotating gear is installed on the shaft of the folding shaft, the rotating gear is coaxially arranged with the folding shaft, the first driving device is fixedly installed on the first cleaning unit, the output shaft end of the first driving device is provided with a driving gear, and the driving gear of the first driving device is meshed with the rotating gear; The first cleaning unit is provided with a first walking mechanism, and the second cleaning unit is provided with a second walking mechanism; The first walking mechanism comprises an upper walking motor, an upper driving wheel and an upper driven wheel; The second walking mechanism comprises a lower walking motor, a lower driving wheel and a lower driven wheel; The mechanical arm comprises a left mechanical arm and a right mechanical arm which are arranged opposite to each other; The left mechanical arm is located at one end of the folding shaft and connected between the folding shaft and the second cleaning unit; The right mechanical arm is located at the other end of the folding shaft and is connected between the folding shaft and the second cleaning unit.

2. The photovoltaic cleaning robot according to claim 1, It is characterized in that The end surface of the folding shaft is polygonal, and the inner wall of the rotating gear matches the folding shaft; There are more than two fixing frames, and the more than two fixing frames are arranged along the axis center line of the folding axis.

3. The photovoltaic cleaning robot according to claim 2, It is characterized in that The end surface of the folding axis is arranged in a rectangular shape.

4. The photovoltaic cleaning robot according to claim 3, It is characterized in that There are two fixing frames, and the two fixing frames are respectively located on both sides of the rotating gear; wherein the two fixing frames have the same structure; The fixing frame includes a base and a support member, and the base is fixedly mounted on the first cleaning unit; The support member is annular and vertically arranged on a side of the base that is not connected to the first cleaning unit. The folding axis passes through an inner hole of the support member, and an edge of the folding axis abuts against an inner wall of the support member.

5. The photovoltaic cleaning robot according to claim 4, It is characterized in that The folding mechanism further includes an electric lock device, which is fixedly mounted on a side where the first cleaning unit is connected to the second cleaning unit, and is disposed adjacent to an edge of the first cleaning unit; The locking rod of the electric locking device is used to lock the second cleaning unit when the first cleaning unit and the second cleaning unit are parallel.

6. The photovoltaic cleaning robot according to claim 5, It is characterized in that A laser receiving device is provided on the side wall of the first cleaning unit facing the second cleaning unit, and a laser emitting device is provided on the side wall of the second cleaning unit facing the first cleaning unit; Wherein, the laser emitting device and the laser receiving device are arranged correspondingly, and the electric locking device is driven by a motor; When the first cleaning unit and the second cleaning unit are parallel, the laser receiving device receives the laser emitted by the laser emitting device, and the motor controls the locking rod in the electric locking device to extend and lock the second cleaning unit.

7. The photovoltaic cleaning robot according to claim 6, It is characterized in that Each cleaning unit is provided with a cleaning roller and a driving device. The driving device is fixedly mounted on the cleaning unit, the cleaning roller is fixedly mounted on an output shaft of the driving device, and the cleaning roller is arranged along a direction from the upper side of the cleaning unit to the lower side of the cleaning unit.

8. The photovoltaic cleaning robot according to claim 7, It is characterized in that A bearing is provided at one end of the cleaning roller that is not connected to the driving device. The inner ring of the bearing is sleeved on the outside of the cleaning roller, and the outer ring of the bearing is fixed on the cleaning unit.

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