A large-span cleaning robot

Abstract

The present invention is applicable to the technical field of photovoltaic cleaning devices, and provides a large-span cleaning robot, comprising: a cleaning component; a first walking component respectively arranged at both ends of the cleaning component, comprising at least two first walking wheels respectively arranged on both sides of the end of the cleaning component, and the first walking wheels located on the same side and at both ends of the cleaning component are transmission-connected through a first power transmission component; a second walking component relatively arranged on both sides of the first walking component, comprising at least one second walking wheel, and the second walking wheels located on the same side and at both ends of the cleaning component are transmission-connected through a second power transmission component; an intermediate transmission component arranged on the cleaning component, respectively transmission-connected to the first power transmission component and the second power transmission component to drive the second walking wheel to rotate; when the center of gravity of the first walking component is located at the edge of the first photovoltaic panel, the second walking wheel close to the edge is located on the second photovoltaic panel adjacent to the first photovoltaic panel.

Description

Technical Field

[0001] The invention belongs to the technical field of photovoltaic panel cleaning devices, and in particular relates to a large-span cleaning robot. Background Art

[0002] Photovoltaic power stations are power stations that convert solar radiation energy into electrical energy through solar cell arrays. They are installed outdoors, so they are easily affected by environmental pollution, such as dust pollution, which affects the power generation. Based on this, photovoltaic panel cleaning robots are used. Photovoltaic panel cleaning robots can realize intelligent dust removal, snow removal and other cleaning operations on photovoltaic components.

[0003] At present, due to the constraints of land and photovoltaic module prices, photovoltaic power stations are gradually beginning to be built with flat single-axis tracking brackets. The length of a single-row flat single-axis can generally be built to be about 90 meters. In order to reduce the cleaning cost of photovoltaic modules, the power station will connect the flat single-axis tracking brackets into a long row of 1 to 2 kilometers, so that a long row can be cleaned by only one cleaning robot.

[0004] However, some flat single-axis have large intervals, such as about 400mm. Since some flat single-axis tracking brackets are composed of many groups of such intervals, when using a photovoltaic cleaning robot for cleaning, the photovoltaic cleaning robot has a limited span and the cleaning machine itself cannot cross such a large interval. Therefore, it is usually necessary to design a bridge at the interval so that the photovoltaic cleaning robot can move to other photovoltaic panels through the bridge, but the design of the bridge requires corresponding increase in material and installation costs. Summary of the invention

[0005] The present invention provides a large-span cleaning robot to solve the above-mentioned defects in the related art at least to a certain extent.

[0006] The present invention is implemented in this way: a large-span cleaning robot comprises:

[0007] Cleaning components;

[0008] First walking assemblies are respectively arranged at both ends of the cleaning assembly, the first walking assembly includes at least two first walking wheels respectively arranged at both sides of the end of the cleaning assembly, and the first walking wheels located on the same side and at both ends of the cleaning assembly are transmission-connected through a first power transmission assembly;

[0009] The second walking components arranged on both sides of the first walking component include at least one second walking wheel, and the second walking wheels located on the same side and at both ends of the cleaning component are connected by a second power transmission component;

[0010] An intermediate transmission assembly disposed on the cleaning assembly, the intermediate transmission assembly being respectively in transmission connection with the first power transmission assembly and the second power transmission assembly to drive the second traveling wheel to rotate;

[0011] When the center of gravity of the first traveling assembly is located at the edge of the first photovoltaic panel, the second traveling wheel near the edge is located on the second photovoltaic panel adjacent to the first photovoltaic panel.

[0012] In one embodiment, the robot further includes:

[0013] First span plate structures respectively oppositely disposed on both sides of the first traveling assembly, the second traveling wheel being disposed on the first span plate structure and spaced apart from the first traveling wheel by a preset distance.

[0014] In one embodiment, the first traveling assembly further includes: at least two first alignment wheels oppositely disposed at the bottom of the first traveling assembly; the second traveling assembly further includes at least two second alignment wheels respectively oppositely disposed on different span plate structures.

[0015] In one embodiment, the roller brush includes a first section cleaning assembly and the second section cleaning assembly, and the intermediate transmission assembly is disposed between the first section cleaning assembly and the second section cleaning assembly.

[0016] In one embodiment, the intermediate transmission assembly includes:

[0017] A fixed seat, a first transmission shaft being disposed on the fixed seat, and two ends of the first transmission shaft being respectively in transmission connection with the first section cleaning assembly and the second section cleaning assembly;

[0018] Second transmission shafts oppositely disposed on both sides of the first transmission shaft, and two ends of the second transmission shaft being respectively in transmission connection with the first power transmission assembly;

[0019] Third transmission shafts oppositely disposed on a side of the second transmission shaft away from the first transmission shaft, and two ends of the third transmission shaft being respectively in transmission connection with the second power transmission assembly, the second transmission shaft and the third transmission shaft being in transmission connection through a transmission chain.

[0020] In one embodiment, the transmission assembly further includes:

[0021] Second span plates respectively disposed on both sides of the fixed seat, an installation groove being disposed on the second span plate, and a chain cover being installed on the second span plate to enclose the transmission chain in the installation groove.

[0022] In one embodiment, the intermediate transmission assembly further includes:

[0023] A first intermediate traveling wheel disposed on the second transmission shaft, and a second intermediate traveling wheel disposed on the third transmission shaft.

[0024] In one embodiment, the first traveling assembly includes a mounting seat, the first traveling wheel is mounted on the mounting seat, the cleaning assembly includes a roller brush shaft, and bristles disposed on the outer periphery of the roller brush shaft, and two ends of the roller brush shaft are connected to the mounting seat of the first traveling assembly through universal joints.

[0025] In one embodiment, the robot further includes:

[0026] A connecting shaft that rotatably connects the mounting seats of the first traveling assemblies disposed at both ends of the cleaning assembly together, so that the first traveling assemblies at both ends of the cleaning assembly can travel on two surfaces with different inclinations simultaneously.

[0027] In one embodiment, the robot includes:

[0028] A first driving device that is movably connected to the first traveling wheel to drive the first traveling wheel to rotate;

[0029] A second driving device that is movably connected to the roller brush shaft to drive the roller brush to perform a rotary motion.

[0030] The present invention also provides a large-span cleaning robot, comprising: a cleaning component; a first walking component respectively arranged at both ends of the cleaning component, the first walking component comprising at least two first walking wheels respectively arranged on both sides of the end of the cleaning component, the first walking wheels located on the same side and at both ends of the cleaning component are transmission-connected through a first power transmission component; a second walking component relatively arranged on both sides of the first walking component, the second walking component comprising at least one second walking wheel, the second walking wheels located on the same side and at both ends of the cleaning component are transmission-connected through a second power transmission component; an intermediate transmission component arranged on the cleaning component, the intermediate transmission component being transmission-connected to the first power transmission component and the second power transmission component, respectively, to drive the second walking wheel to rotate; when the center of gravity of the first walking component is located at the edge of the first photovoltaic panel, the second walking wheel close to the edge is located on the second photovoltaic panel adjacent to the first photovoltaic panel. In the embodiment of the present application, through an intermediate transmission device, the power of the first walking wheel is transmitted to the second power transmission component through the first power transmission component, and the second walking wheel is driven to rotate through the second power transmission component, thereby realizing the synchronous movement of the first walking wheel and the second walking wheel. It can be ensured that when crossing the gap between adjacent photovoltaic panels, no matter where, there will be at least two walking wheels to provide power on the photovoltaic panels, and the overall structure is simple, and there is no need to make a bridge frame to cross the gap between adjacent photovoltaic panels. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] Figure 1 This is a schematic diagram of the overall structure of a large-span cleaning robot provided in an embodiment of the present application. Figure 1 ;

[0032] Figure 2 This is a schematic diagram of the overall structure of a large-span cleaning robot provided in an embodiment of the present application. Figure 2 ;

[0033] Figure 3 is a structural schematic diagram of an intermediate transmission assembly provided in an embodiment of the present application;

[0034] Figure 4 is an exploded view of an intermediate transmission assembly provided in an embodiment of the present application;

[0035] Figure 5 It is a structural schematic diagram of a first walking assembly and a second walking assembly provided in an embodiment of the present application;

[0036] Figure 6 is an exploded view of a first walking assembly provided in an embodiment of the present application;

[0037] Figure 7 is a structural schematic diagram of a first driving device provided in an embodiment of the present application;

[0038] Among them, 1 is the cleaning component; 2 is the first traveling component; 3 is the first power transmission component; 4 is the second traveling wheel; 5 is the second power transmission component; 6 is the intermediate transmission component; 7 is the first span plate structure; 8 is the connecting shaft; 9 is the first driving device; 10 is the second driving device; 11 is the first section cleaning component; 12 is the second section cleaning component; 21 is the first traveling wheel; 23 is the first deviation rectifying wheel; 221 is the cover body; 222 is the first bracket; 31 is the first section power transmission component; 32 is the second section power transmission component; 41 is the second traveling wheel; 42 is the second deviation rectifying wheel; 51 is the third section power transmission component; 52 is the fourth section power transmission component; 61 is the fixed seat; 62 is the first transmission shaft; 63 is the second transmission shaft; 64 is the third transmission shaft; 65 is the second span plate; 66 is the transmission chain; 67 is the first intermediate traveling wheel; 68 is the second intermediate traveling wheel; 631 is the first gear; 641 is the second gear; 651 is the installation groove; 652 is the chain cover; 91 is the driving shaft; 92 is the third gear member; 93 is the fourth gear member; 94 is the output shaft. Detailed implementation manners

[0039] In order to make the objectives, technical solutions and advantages of the present invention clearer and more understandable, the present invention will be further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not used to limit the present invention.

[0040] In the description of the present invention, it should be understood that the orientation or positional relationships indicated by the terms "longitudinal", "radial", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc. are based on the orientation or positional relationships shown in the drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of the present invention. In the description of the present invention, unless otherwise specified, the meaning of "a plurality of" is two or more.

[0041] In the description of the present invention, it should be noted that unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be directly connected or indirectly connected through an intermediate medium, and it can be the communication inside two elements. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific situations.

[0042] Combined with Figure 1 、Figure 2 The present invention provides a large-span cleaning robot, comprising: a cleaning component 1; a first walking component 2 respectively arranged at both ends of the cleaning component 1, the first walking component 2 comprising at least two first walking wheels 21 respectively arranged at both sides of the end of the cleaning component 1, and the first walking wheels 21 located on the same side and at both ends of the cleaning component 1 are connected by a first power transmission component 3; a second walking component 4 relatively arranged on both sides of the first walking component 2, the second walking component 4 comprising at least one second walking wheel 41, and the second walking wheels 41 located on the same side and at both ends of the cleaning component 1 are connected by a second power transmission component 5; an intermediate transmission component 6 arranged on the cleaning component 2, the intermediate transmission component 6 being connected to the first power transmission component 3 and the second power transmission component 5 respectively to drive the second walking wheel 41 to rotate; when the center of gravity of the first walking component 2 is located at the edge of the first photovoltaic panel, the second walking wheel 41 close to the edge is located on the second photovoltaic panel adjacent to the first photovoltaic panel. In the embodiment of the present application, the power of the first running wheel is transmitted to the second running wheel through the first power transmission assembly through the intermediate transmission device, and the second running wheel is driven to rotate through the second power transmission assembly, thereby realizing the synchronous movement of the first running wheel and the second running wheel, which can ensure that when crossing the gap between adjacent photovoltaic panels, at least two running wheels will provide power on the photovoltaic panel regardless of the position, and the overall structure is simple, and the gap between adjacent photovoltaic panels can be crossed without making a bridge. And by providing power to the second running wheel through the intermediate transmission assembly, there is no need to set a motor to drive each running wheel, which can save power costs, and the transmission connection between different running wheels through the transmission assembly can make the overall structure more stable.

[0043] Among them, the large-span cleaning robot can be used to clean photovoltaic solar panels.

[0044] The cleaning robot further includes a power supply assembly (not shown in the figure), which is used to provide power to various electrical devices in the cleaning robot. The power supply assembly can be a battery pack, which can be charged by an external power supply.

[0045] The first running wheels 21 at both ends of the cleaning assembly 1 can be connected to the first power transmission assembly 3 via a universal joint, and the second running wheels 41 at both ends of the cleaning assembly 1 can also be connected to the second power transmission assembly 5 via a universal joint. When the universal joint is used for connection, when the robot is twisted, it can ensure that the robot maintains a certain rigidity without affecting the power transmission.

[0046] See also Figure 1, in an embodiment of the present application, the cleaning robot includes: first span plate structures 7 respectively disposed opposite to both sides of the first traveling assembly, the second traveling wheels 41 are disposed on the first span plate structures 7 and are spaced apart by a preset distance from the first traveling wheels 21. Specifically, the first traveling assembly 2 may include a mounting seat 22, and the first span plate structures 7 are respectively mounted on the left and right sides of the mounting seat to increase the width of the cleaning robot, thereby increasing the span of the cleaning robot, and the second traveling wheels 41 are mounted on a side of the first span plate structures 7 away from the mounting seat 22, so that the cleaning robot forms second traveling wheels 41 symmetrically arranged left and right.

[0047] Wherein, the first span plate structure 7 may be made of sheet metal material or a die-cast part.

[0048] Wherein, the preset distance may be greater than the interval distance between the photovoltaic panels. For example, if the interval distance is 400 mm, then the preset distance only needs to be greater than 400 mm. Specifically, it is set according to the actual interval between the photovoltaic panels, and the present application does not limit this here. By setting the preset distance, it can be ensured that when the center of gravity of the first traveling assembly 2 is still at the edge of the first photovoltaic panel, the second traveling wheels of the first traveling assembly 2 close to the interval have walked onto the adjacent second photovoltaic panel, which can prevent the cleaning robot from falling or losing its center of gravity. It should be noted that the distance between the second traveling wheels 41 and the first traveling wheels 21 can be adjusted, that is, it can be adjusted by replacing the width of the first span plate structure 7, or the setting position of the second traveling wheels on the first span plate structure 7 can also be adjusted to adjust the preset distance.

[0049] In an embodiment of the present application, the width of the mounting seat 22 can be increased, and the second traveling wheels 41 can be mounted at both ends after the width of the mounting seat 22 is increased. By directly increasing the width of the mounting seat 22, the width of the cleaning robot is provided, thereby increasing the span of the cleaning robot.

[0050] In the embodiment of the present application, the second walking component 4 is respectively arranged on both sides of the first walking component 2, and when the first walking component 2 is running, it can drive the first power transmission component 3 to rotate, and the first power transmission component 3 can further drive the second power transmission component 5 to rotate through the intermediate transmission component 6, and then the second walking component 4 is driven by the second power transmission component 5 to rotate synchronously with the first walking component 2 to realize the walking of the cleaning robot. It can be understood that since there is a certain distance between the second walking component and the first walking component 2, the overall width of the cleaning robot can be widened. When running to the edge of the photovoltaic panel, the cleaning robot will continue to run. At this time, the second walking component of the cleaning robot located at the edge can cross the gap, run to another adjacent photovoltaic panel, and continue to run. No matter where it is, there will be at least two walking wheels on the photovoltaic panel to provide power, so the cleaning robot can completely cross the gap.

[0051] Combination Figure 5 , Figure 6 In the embodiment of the present application, the first walking assembly 2 further includes at least two first deflection correcting wheels 23 relatively arranged at the bottom of the first walking assembly 2. The second walking assembly 4 further includes at least two second deflection correcting wheels 42 relatively arranged on the plate structures 7 of different spans. By setting the first deflection correcting wheels 23 and the second deflection correcting wheels 42 to roll along the side wall of the photovoltaic panel support, the cleaning robot can be prevented from deviating from the cleaning track.

[0052] Among them, the first correcting wheel 23 can be an extended correcting wheel, which can better adapt to the scene with an oblique cleaning angle.

[0053] In the embodiment of the present application, the cleaning assembly 1 includes a first cleaning assembly 11 and a second cleaning assembly 12, and the intermediate transmission assembly 6 is disposed between the first cleaning assembly 111 and the second cleaning assembly 12. The first cleaning assembly 11 and the second cleaning assembly 12 are mounted on mounting seats 22 of the first walking assembly 2 at both ends at one end away from the intermediate transmission assembly 6, respectively, and the first cleaning assembly 11 and the second cleaning assembly 12 are connected by transmission through the intermediate transmission assembly 6, so that the first cleaning assembly 11 and the second cleaning assembly 12 can rotate normally.

[0054] Combination Figure 3 , Figure 4, in the embodiment of the present application, the intermediate transmission assembly 6 includes: a fixed seat 61, on which a first transmission shaft 62 is provided, and both ends of the first transmission shaft 62 are respectively in transmission connection with the first-stage cleaning assembly 11 and the second-stage cleaning assembly 12; second transmission shafts 63 oppositely arranged on both sides of the first transmission shaft 62, and both ends of the second transmission shafts 63 are respectively in transmission connection with the first power transmission assembly 3; third transmission shafts 64 oppositely arranged on the side of the second transmission shafts 63 away from the first transmission shaft 62, and both ends of the third transmission shafts 64 are respectively in transmission connection with the second power transmission assembly 5, and the second transmission shafts 63 and the third transmission shafts 64 are in transmission connection through a transmission chain 65.

[0055] Combined with Figure 2 , it can be understood that the first power transmission assembly 3 can also be divided into two sections, namely the first-stage power transmission assembly 31 and the second-stage power transmission assembly 32. Then, both ends of the second transmission shaft 63 can be respectively in transmission connection with the first-stage power transmission assembly 31 and the second-stage power transmission assembly 32, and the ends of the first-stage power transmission assembly 31 and the second-stage power transmission assembly 32 away from the second transmission shaft 63 can be respectively in transmission connection with the first traveling wheels arranged at both ends of the cleaning assembly 1. And the second power transmission assembly 5 can also be divided into two sections, that is, it can be divided into a third-stage power transmission assembly 51 and a fourth-stage power transmission assembly 52. Then, both ends of the third transmission shaft 64 can be respectively in transmission connection with the third-stage power transmission assembly 51 and the fourth-stage power transmission assembly 52, and the ends of the third-stage power transmission assembly 51 and the fourth-stage power transmission assembly 52 away from the third transmission shaft 63 can be respectively in transmission connection with the second traveling wheels 41 arranged at both ends of the cleaning assembly 1. Furthermore, a transmission mechanism is formed by combining the first traveling wheels 21, the first power transmission assembly 3, the intermediate transmission assembly 6, and the second power transmission assembly 5, so that the second traveling wheels 41 and the first traveling wheels 21 rotate synchronously.

[0056] Among them, both the first power transmission assembly 3 and the second power transmission assembly 5 can be universal joint drive shafts. The first traveling wheels 21 and the first power transmission assembly 3 can be connected by a universal joint, and the second traveling wheels 41 can also be connected to the second power transmission assembly 5 by a universal joint. Correspondingly, the first power transmission assembly 3 and the second transmission shaft 63 can also be in transmission connection by a universal joint, and the second power transmission assembly 5 and the third transmission shaft 64 can also be in transmission connection by a universal joint.

[0057] Combined with Figure 5 、 Figure 6, in the embodiment of the present application, the intermediate transmission assembly further includes: second span plates 65 respectively disposed on both sides of the fixed seat 61, an installation groove 651 is provided on the second span plate 65, and a chain cover 652 is installed on the second span plate 65 to enclose the transmission chain 66 in the installation groove 651. The chain cover 652 can be hermetically fitted with the installation groove 651, which can prevent the transmission chain 66 from being directly exposed to the air, thus avoiding the wear caused by the gear set being contaminated with dust, and can effectively improve the service life.

[0058] Wherein, the chain cover 652 and the second span plate 65 can be fixedly assembled together by bolts (not shown in the figure).

[0059] Further, a first gear 631 is provided on the second transmission shaft 63, a second gear 641 is provided on the third transmission shaft 64, and the transmission chain 66 is disposed on the first gear 631 and the second gear 632. Through the cooperation of the first gear 631 and the second gear 64, transmission is achieved.

[0060] Wherein, the fixed seat 61 may include an upper cover 611 and a second bracket 612, and the first transmission shaft 63 can be installed on the second bracket 612.

[0061] In the embodiment of the present application, the first-stage cleaning assembly and the second-stage cleaning assembly are respectively disposed between the fixed seat 61 and the mounting seat 22, and they can be connected by a universal joint between the fixed seat 61 and the mounting seat 22, so that when the intermediate traveling wheels, the first traveling wheel and the second traveling wheel are in a torsional state, the cleaning assembly can still rotate normally.

[0062] Combined Figure 5 、 Figure 6 , in the embodiment of the present application, the intermediate transmission assembly 6 further includes: a first intermediate traveling wheel 67 disposed on the second transmission shaft 63, and a second intermediate traveling wheel 68 disposed on the third transmission shaft 64. The first intermediate traveling wheel 67 can be driven by the second transmission shaft 63 to rotate synchronously with the first traveling wheel 21 and the second traveling wheel 41, and the second intermediate traveling wheel 68 can be driven by the third transmission shaft 63 to rotate synchronously with the first traveling wheel 21 and the second traveling wheel 41, so as to realize forward rolling in the middle frame of the photovoltaic panel and jointly realize traveling with the first traveling wheel 21 and the second traveling wheel 41, which can improve the stability of traveling.

[0063] In an embodiment of the present application, the first walking assembly 2 includes a cover body 221 and a first bracket 222. The first walking wheel 21 is installed on the first bracket 222. The cleaning assembly 1 can be a roller brush, which can include a roller brush shaft and bristles (not shown in the figure) arranged on the outer periphery of the roller brush shaft. Two ends of the roller brush shaft are connected to the mounting seat of the first walking assembly 2 through universal joints.

[0064] Among them, the first walking wheel can be installed on the first bracket 222 and assembled with the first bracket 222 through the cover body 221, avoiding the direct exposure of the internal structure of the first walking assembly 2 to the air. On the one hand, it can improve the aesthetics, and on the other hand, it can protect the internal structure.

[0065] Among them, the cover body 221 and the first bracket 222 (not shown in the figure) can be fixedly assembled together by bolts.

[0066] Combined Figure 1 、 Figure 2 , further, the robot further includes: a connecting shaft 8. The connecting shaft 8 rotatably connects the mounting seats of the first walking assemblies 2 provided at both ends of the cleaning assembly 1 together, so that the first walking assemblies 2 at both ends of the cleaning assembly 1 can walk on two surfaces with different inclinations at the same time. It enables the walking assemblies at both ends of the cleaning assembly to be relatively twisted and the roller brush can rotate and continue to clean in the twisted state.

[0067] Among them, the connecting shaft 8 can be a pipe fitting, and reinforcing ribs can be arranged inside it, which can not only improve the strength but also reduce the overall weight of the cleaning robot. In a preferred solution, the connecting shaft 8 can be a double-layer pipe fitting, and the reinforcing ribs can be arranged between the double-layer pipe fittings, and its strength is better.

[0068] In an embodiment of the present application, a bushing can be provided on the first bracket 222 of the first walking assembly 2. The bushing is connected in cooperation with the connecting shaft 8, so that both ends of the connecting shaft 8 can be rotatably assembled with the first walking assembly 2 respectively, so that the first walking assemblies 2 at both ends can be rotatably connected together.

[0069] Further, a bushing can also be provided on the intermediate transmission assembly 6, and it is rotationally matched with the connecting shaft through the bushing.

[0070] Combined Figure 6In the embodiment of the present application, the robot comprises: a first driving device 9 movably connected to the first walking wheel 21 to drive the first walking wheel 21 to rotate; and a second driving device 10 movably connected to the roller brush shaft to drive the cleaning component 1 to rotate. Specifically, there are two walking wheels 21, which are respectively arranged on both sides of the end of the cleaning component 1, and each walking wheel 21 can be rotatably connected to a first driving device 9, and the first driving device 9 drives the walking wheel 21 to rotate.

[0071] Furthermore, the first driving device 9 can be arranged at one end of the cleaning component 1, or at both ends of the cleaning component. It can be understood that when it is only arranged at one end of the cleaning component 1, the first driving device 9 can be connected to the first walking wheel 21 at the same end of the cleaning component 1 through transmission, and the first walking wheel 21 can be used as a driving wheel. Since the first walking wheel 21 is connected to the first walking wheel 21 at the other end of the cleaning component 2 through the first power transmission component 3, the first walking wheel 21 at the other end can be used as a driven wheel. Therefore, when the first driving device 9 is running, the first walking wheel 21 at the other end of the cleaning component 2 can be driven to rotate synchronously through the first power transmission component 3.

[0072] When the first driving device 9 is arranged at one end of the cleaning robot, the power supply component can be arranged at the other end of the cleaning robot. The first driving device 9 and the second driving device 10 can be powered by the power supply component. At the same time, the power supply component can also power the control circuit board and other electrical devices arranged inside the cleaning robot.

[0073] Among them, the first driving device 9 and the second driving device 10 can both be driving motors, on which a driving shaft is arranged. The driving shaft 91 of the first driving device 9 can be connected to the first walking wheel 21 for driving the first walking wheel 21 to rotate, and the driving shaft of the second driving device 10 can be connected to the roller brush shaft for driving the cleaning component 1 to rotate.

[0074] Combination Figure 7, in the embodiment of the present application, the first traveling wheel 21 and the first deviation correction wheel 23 can be connected by gear transmission. Specifically, a third gear member 92 can be connected to the drive shaft of the first driving device 9 in a transmissible manner, a fourth gear member 93 that is in gear engagement with the third gear member 92, the fourth gear member 93 is connected to the output shaft 94 in a transmissible manner, and the free end of the output shaft 94 can be movably connected to the first deviation correction wheel 23. When the first driving device 9 operates, through the gear transmission, the first traveling wheel 21 and the first deviation correction wheel 23 can be driven to rotate synchronously, so as to realize synchronous traveling on the front and side. Similarly, the second traveling wheel 411 and the second deviation correction wheel 42 can also be connected by gear transmission, that is, the second driving motor 10 provides power for the front and side to drive the second traveling wheel 41 and the second deviation correction wheel 42 to rotate synchronously. Or, the second deviation correction wheel 42 can be a non-powered wheel, that is, when the cleaning robot is operating, it is driven to rotate by the acting force between it and the side wall of the photovoltaic panel to reduce the friction force.

[0075] In the embodiment of the present application, through the intermediate transmission device, the power of the first traveling wheel is transmitted to the second power transmission component through the first power transmission component, and the second traveling wheel is driven to rotate through the second power transmission component, so as to realize the synchronous movement of the first traveling wheel and the second traveling wheel. It can be ensured that when crossing the interval between adjacent photovoltaic panels, there will be at least two traveling wheels providing power on the photovoltaic panels at any position. Moreover, the overall structure is simple, and the interval between adjacent photovoltaic panels can be crossed without making a bridge. And by setting the span plate structure and adding traveling wheels on the span plate structure, it can directly cross the interval of the flat single-axis fixed bridge with a certain width without a bridge, which can meet the span requirement and reduce the cost of setting up a bridge. In addition, the first traveling wheels at both ends are connected by a universal joint, and the second traveling wheels at both ends are connected by a universal joint. When torsion occurs, it can ensure a certain rigidity of the robot and does not affect the transmission of power.

[0076] The above are only the preferred embodiments of the present invention and are not intended to limit the present invention. Any modifications, equivalent replacements, and improvements made within the spirit and principle of the present invention shall be included within the protection scope of the present invention.

Claims

1. A large-span cleaning robot, characterized in that, The robot includes: A cleaning component; A first traveling component respectively arranged at both ends of the cleaning component. The first traveling component includes at least two first traveling wheels respectively arranged on both sides of the end of the cleaning component. The first traveling wheels on the same side and at both ends of the cleaning component are drivingly connected through a first power transmission component; A second traveling component oppositely arranged on both sides of the first traveling component. The second traveling component includes at least one second traveling wheel. The second traveling wheels on the same side and at both ends of the cleaning component are drivingly connected through a second power transmission component; An intermediate transmission component arranged on the cleaning component. The intermediate transmission component is respectively drivingly connected with the first power transmission component and the second power transmission component to drive the second traveling wheels to rotate; When the center of gravity of the first traveling component is located at the edge of the first photovoltaic panel, the second traveling wheel near the edge is located on the second photovoltaic panel adjacent to the first photovoltaic panel.

2. The large-span cleaning robot according to claim 1, wherein The robot further includes: First span plate structures respectively oppositely arranged on both sides of the first traveling component. The second traveling wheels are arranged on the first span plate structures and are spaced apart from the first traveling wheels by a preset distance.

3. The large-span cleaning robot according to claim 2, characterized in that, The first traveling component further includes: at least two first deviation correction wheels oppositely arranged at the bottom of the first traveling component; the second traveling component further includes at least two second deviation correction wheels respectively oppositely arranged on different span plate structures.

4. The large-span cleaning robot according to claim 1, characterized in that, The cleaning component includes a first section cleaning component and a second section cleaning component. The intermediate transmission component is arranged between the first section cleaning component and the second section cleaning component.

5. The large-span cleaning robot according to claim 4, characterized in that, The intermediate transmission component includes: A fixed seat. A first transmission shaft is arranged on the fixed seat. Both ends of the first transmission shaft are respectively drivingly connected with the first section cleaning component and the second section cleaning component; Second transmission shafts oppositely arranged on both sides of the first transmission shaft. Both ends of the second transmission shafts are respectively drivingly connected with the first power transmission component; Third transmission shafts oppositely arranged on the side of the second transmission shafts far from the first transmission shaft. Both ends of the third transmission shafts are respectively drivingly connected with the second power transmission component. The second transmission shafts and the third transmission shafts are drivingly connected through a transmission chain.

6. The large-span cleaning robot according to claim 5, wherein, The transmission component further includes: Second span plates respectively arranged on both sides of the fixed seat. An installation groove is arranged on the second span plates, and a chain cover is installed on the second span plates to enclose the transmission chain in the installation groove.

7. The large-span cleaning robot according to claim 5, wherein The intermediate transmission component further includes: A first intermediate traveling wheel arranged on the second transmission shaft and a second intermediate traveling wheel arranged on the third transmission shaft.

8. The large-span cleaning robot according to claim 1, wherein, The first traveling component includes a mounting seat. The first traveling wheels are installed on the mounting seat. The cleaning component includes a roller brush shaft and bristles arranged on the outer periphery of the roller brush shaft. Both ends of the roller brush shaft are connected to the mounting seat of the first traveling component through universal joints.

9. The large-span cleaning robot according to claim 1, characterized in that, The robot further includes: A connecting shaft that rotatably connects the mounting seats of the first traveling assemblies disposed at both ends of the cleaning assembly together, enabling the first traveling assemblies at both ends of the cleaning assembly to travel on two surfaces with different inclinations simultaneously.

10. The large-span cleaning robot according to claim 8, characterized in that, The robot includes: A first driving device that is movably connected to the first traveling wheel to drive the first traveling wheel to rotate; A second driving device that is movably connected to the roller brush shaft to drive the roller brush to perform a rotary motion.

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