Cleaning robot

Abstract

A cleaning robot includes an upper mechanism assembly, a lower mechanism assembly, and a connecting mechanism assembly. The upper mechanism assembly has upper wheels, and the lower mechanism assembly has lower wheels. The connecting mechanism assembly includes a partition plate located in the middle, and the upper and lower mechanism assemblies are connected via the connecting mechanism assembly. The upper and lower mechanism assemblies are capable of rotating in opposite directions relative to the partition plate, allowing the upper and lower wheels to travel on two connecting bridges with a spatial intersection angle. This cleaning robot can stably operate across the connecting bridges with a spatial intersection angle without slipping or dangling, thus avoiding the risk of the wheels detaching from the connecting bridges.

Description

Technical Field

[0001] This invention relates to the field of solar photovoltaics, and in particular to a cleaning robot. Background Technology

[0002] To achieve higher power generation efficiency, trackers (also known as photovoltaic panels) need to rotate independently to follow the changing angles of the sun. Therefore, the photovoltaic brackets supporting the photovoltaic panels are typically rotatable tracking brackets. However, because different tracking brackets rotate independently, it's difficult to ensure that the tracking and protection angles of each tracker are completely consistent. This leads to angle deviations between different tracking brackets in the same row, meaning angle deviations exist between different photovoltaic panels in adjacent arrays. When using photovoltaic cleaning robots to clean arrays of photovoltaic panels, to reduce costs, the gaps between adjacent arrays of photovoltaic panels need to be connected by bridges. The angle deviations between adjacent arrays of photovoltaic panels cause spatial intersections in the installed bridges. Existing photovoltaic cleaning robots are mostly designed with rigid structures, unable to adapt their wheels to different angles. When traversing bridges with spatial intersections, they cannot operate stably. That is, when the cleaning robot travels along the bridge from one tracker to the other, the upper wheels travel downhill on one side of the bridge, and the lower wheels travel uphill on the other side. The upper traveling wheel will be pushed up by the lower traveling wheel and thus lose its grip. This will not only result in insufficient friction for the upper traveling wheel when it is traveling, leading to a decrease in climbing ability, but also pose a risk that the traveling wheel will fall off the bridge frame.

[0003] Therefore, it is necessary to provide a new cleaning robot to solve the above problems. Summary of the Invention

[0004] The purpose of this invention is to provide a cleaning robot that can operate stably through a connecting bridge with spatial intersection angles.

[0005] To achieve the above objectives, the present invention adopts the following technical solution: a cleaning robot, comprising an upper mechanism assembly, a lower mechanism assembly, and a connecting mechanism assembly. The upper mechanism assembly has upper walking wheels, the lower mechanism assembly has lower walking wheels, and the connecting mechanism assembly includes a partition plate located in the middle. The upper mechanism assembly and the lower mechanism assembly are connected through the connecting mechanism assembly. The upper mechanism assembly and the lower mechanism assembly are capable of rotating in opposite directions relative to the partition plate, so that the upper walking wheels and the lower walking wheels can respectively walk on two connecting bridges with a spatial intersection angle.

[0006] As a further improvement of the present invention, the connecting mechanism assembly includes two mounting seats and four spring members. The two mounting seats are rotatably and symmetrically mounted on both sides of the partition plate. Two of the spring members are located on one side of the partition plate, and the other two spring members are located on the other side of the partition plate. One end of each spring member is fixedly connected to the partition plate, and the other end is fixedly connected to the mounting seat.

[0007] As a further improvement of the present invention, the connecting mechanism assembly includes a bearing assembly, the bearing assembly includes two first bearings, and the first bearings include at least a first end clamped between the spacer plate and the mounting base.

[0008] As a further improved technical solution of the present invention, the bearing assembly includes two bearing seats, each bearing seat having an inner ring surface and an outer ring surface, the first bearing being sleeved on the outer ring surface of the bearing seat for positioning; the first bearing also includes a second end, the second end and the first end being integrally extended concentric circles, the second end being clamped between the mounting base and the bearing seat.

[0009] As a further improvement of the present invention, the bearing assembly includes two second bearings, which are embedded in the inner ring surface of the bearing housing for positioning.

[0010] As a further improvement of the present invention, the mounting base includes a first plate and a second plate extending on the top of the first plate. The first plate is provided with a first central hole, the size of which is at least large enough to allow the bearing housing to pass through.

[0011] As a further improvement of the present invention, a portion of the bearing assembly is located within the first central hole, and the connecting mechanism assembly includes an outer end cap, which covers a portion of the bearing assembly within the first central hole and abuts against the outside of the mounting base for positioning.

[0012] As a further improved technical solution of the present invention, the connecting mechanism assembly further includes a screw and a nut; the screw passes sequentially through the outer end cover on one side of the partition plate, the bearing seat on one side of the partition plate, the partition plate, the bearing seat on the other side of the partition plate, and the outer end cover on the other side of the partition plate and is fixed with the nut, the cooperation of the screw and the nut symmetrically and fixedly connecting the outer end covers and bearing seats on both sides of the partition plate to the partition plate.

[0013] As a further improved technical solution of the present invention, the partition plate is provided with a first hole located at its center; the upper mechanism assembly and the lower mechanism assembly are symmetrically arranged on both sides of the connecting mechanism assembly and each includes an end housing, a driving member and a brush; each of the brushes is provided with rollers at both ends, one roller extending into the first hole for positioning, and the other roller extending into the end housing for positioning and being driven by the driving member.

[0014] As a further improvement of the present invention, the second bearing is sandwiched between the inner ring surface of the roller shaft and the bearing housing.

[0015] Compared to existing technologies, the cleaning robot of this invention achieves reverse flipping of the upper and lower mechanism components through a connecting mechanism assembly. This ensures that the walking wheels on both sides remain firmly attached to the two connecting bridges, thereby enabling stable operation through the connecting bridges with spatial intersection angles and preventing slippage. This avoids the risk of the walking wheels detaching from the connecting bridges. Furthermore, the connecting mechanism assembly includes a partition plate and two mounting seats symmetrically installed on both sides of the partition plate. The reverse flipping includes the reverse flipping of the two mounting seats relative to the partition plate. At the rotation position of the two mounting seats relative to the partition plate, a first bearing made of polymer material, i.e., a plastic bearing, is nested and connected. The polymer plastic bearing has high strength, wear resistance, and self-lubricating properties, making the rotation of the mounting seats on both sides relative to the partition plate smoother. Attached Figure Description

[0016] Figure 1 This is a three-dimensional assembly diagram of the cleaning robot of the present invention;

[0017] Figure 2 This is a three-dimensional composite view of the cleaning robot of the present invention after the cover is removed;

[0018] Figure 3 This is a partial exploded perspective view of the cleaning robot of the present invention;

[0019] Figure 4 This is a partial exploded perspective view of the cleaning robot of the present invention from another angle;

[0020] Figure 5 This is a partial three-dimensional assembly diagram of the end of the cleaning robot of the present invention;

[0021] Figure 6 This is a partial three-dimensional composite view of the end of the cleaning robot of the present invention from another angle;

[0022] Figure 7 This is a three-dimensional assembly diagram of the connecting mechanism components in the middle of the cleaning robot of the present invention;

[0023] Figure 8This is a three-dimensional assembly view of the connecting mechanism component in the middle of the cleaning robot of the present invention from another angle;

[0024] Figure 9 yes Figure 7 and Figure 8 A 3D view of the central connecting mechanism component not connected to the central traveling wheel;

[0025] Figure 10 yes Figure 9 Partial exploded perspective view of the connecting mechanism components;

[0026] Figure 11 yes Figure 10 3D exploded view of the middle part of the components;

[0027] Figure 12 yes Figure 10 An exploded 3D view of another part of the components;

[0028] Figure 13 yes Figure 9 Top view;

[0029] Figure 14 It is along Figure 13 Sectional view of line AA in the middle;

[0030] Figure 15 This is a three-dimensional combined diagram of the photovoltaic panel and connecting cable tray related to the cleaning robot of this invention;

[0031] Figure 16 This is a diagram showing the operating status of the cleaning robot of this invention on a photovoltaic panel;

[0032] Figure 17 This is a diagram showing the operating status of the cleaning robot of the present invention on the connecting bridge. Detailed Implementation

[0033] The exemplary embodiments of the present invention will now be described in detail with reference to the accompanying drawings. If several embodiments exist, features in these embodiments may be combined with each other without conflict. When the description refers to the drawings, unless otherwise stated, the same numbers in different drawings represent the same or similar elements. The descriptions in the following exemplary embodiments do not represent all embodiments consistent with the present invention; rather, they are merely examples of apparatuses, products, and / or methods consistent with some aspects of the present invention as set forth in the claims.

[0034] The terminology used in this invention is for the purpose of describing particular embodiments only and is not intended to limit the scope of protection of this invention. The singular forms “a,” “the,” or “the” as used in the specification and claims of this invention are also intended to include the plural forms unless the context clearly indicates otherwise.

[0035] It should be understood that the terms "first," "second," and similar words used in the specification and claims of this invention do not indicate any order, quantity, or importance, but are merely used to distinguish features. Similarly, the terms "an" or "a" do not indicate a quantity limitation, but rather indicate the presence of at least one. Unless otherwise stated, the terms "before," "after," "upper," "lower," and similar words appearing in this invention are for ease of explanation only and are not limited to a specific location or spatial orientation. The terms "comprising" or "including" are an open-ended expression, meaning that the element preceding "comprising" or "including" encompasses the element following "comprising" or "including" and its equivalents, but this does not preclude the element preceding "comprising" or "including" from also including other elements. In this invention, the term "several" means two or more.

[0036] Please refer to Figures 1 to 17 This invention relates to a cleaning robot 100 used in the photovoltaic field for cleaning photovoltaic panels 200 supported by photovoltaic brackets. The cleaning robot 100 includes an upper mechanism assembly 1 and a lower mechanism assembly 2. The cleaning robot 100 also includes a connecting mechanism assembly 3. The upper mechanism assembly 1 and the lower mechanism assembly 2 are connected by the connecting mechanism assembly 3 and can rotate in opposite directions to accommodate the "downhill" movement of the upper walking wheels 61 on one side of the bridge and the "uphill" movement of the lower walking wheels 62 on the other side of the bridge, respectively, to ensure smooth operation on the connecting bridge 300 with a spatial intersection angle. That is, when the cleaning robot 100 moves between adjacent photovoltaic panels 200 on the connecting bridge 300 with a spatial intersection angle, the walking wheels 6 can always remain firmly attached to the connecting bridge 300, preventing slippage and avoiding the risk of the walking wheels 6 detaching from the connecting bridge 300.

[0037] The upper mechanism assembly 1 and the lower mechanism assembly 2 are symmetrically arranged on both sides of the connecting mechanism assembly 3, each including a drive component 4, a brush 5, and a wheel 6. For example, the upper mechanism assembly 1 includes an upper drive component 41, an upper brush 51, and an upper wheel 61, while the lower mechanism assembly 2 includes a lower drive component 42, a lower brush 52, and a lower wheel 62. Therefore, the two parts of the cleaning robot 100 of the present invention, namely the upper mechanism assembly 1 and the lower mechanism assembly 2, can be driven independently. That is, the upper brush 51 and the upper wheel 61 of the upper mechanism assembly 1 are driven by the upper drive component 41, and the lower brush 52 and the lower wheel 62 of the lower mechanism assembly 2 are driven by the lower drive component 42, ensuring the relatively independent operation of the upper mechanism assembly 1 and the lower mechanism assembly 2 on both sides of the connecting mechanism assembly 3.

[0038] The upper mechanism assembly 1 and the lower mechanism assembly 2 each include a suspended guide wheel 7 and a gear set 8. When the walking wheel 6 cleans on the photovoltaic panel 200 or moves on the connecting bridge 300, the suspended guide wheel 7 is used to prevent the cleaning robot 100 of the present invention from slipping off the photovoltaic panel 200 or the connecting bridge 300. The walking wheel 6 has a walking wheel axle 60, and the suspended guide wheel 7 has a suspended guide wheel axle 70. The walking wheel axle 60 and the suspended guide wheel axle 70 extend in mutually perpendicular directions. Therefore, the walking wheel axle 60 and the suspended guide wheel axle 70 are meshed through the gear set 8. The gear set 8 includes a first helical gear 81 coaxially fixed to the walking wheel axle 60 and a second helical gear 82 coaxially fixed to the suspended guide wheel axle 70. The first helical gear 81 and the second helical gear 82 mesh with each other to realize the transmission connection between the walking wheel 6 and the suspended guide wheel 7.

[0039] Both the upper mechanism assembly 1 and the lower mechanism assembly 2 further include an end housing 9. The end housing 9 includes a first housing 91 and a second housing 92, which interlock to form a storage space. The traveling wheel axle 60 and the suspension guide wheel axle 70 are both exposed outside the end housing 9, and the gear set 8 is located inside the end housing 9. The first housing 91 is located on the inner side of the second housing 92 near the connecting mechanism assembly 3, and the second housing 92 is located on the outer side of the first housing 91 away from the connecting mechanism assembly 3. The first housing 91 and the second housing 92 each form a U-shape for mating installation.

[0040] Each of the brushes 5 has a roller shaft 50 at both ends. Therefore, in this invention, there are four roller shafts 50, namely a first roller shaft 501, a second roller shaft 502, a third roller shaft 503, and a fourth roller shaft 504. For example, the upper brush 51 is connected and positioned by the first roller shaft 501 and the second roller shaft 502 at both ends to facilitate rolling; the lower brush 52 is connected and positioned by the third roller shaft 503 and the fourth roller shaft 504 at both ends to facilitate rolling. The driving member 4 drives the roller shafts 50, thereby driving the brushes 5 to roll.

[0041] The connecting mechanism assembly 3 includes a spacer 31, a mounting base 32, a bearing housing 33, a second bearing 34, a first bearing 35, a spring element 36, and an outer end cap 37. The bearing housing 33, the second bearing 34, and the first bearing 35 can be collectively referred to as a bearing assembly. The bearing housing 33 provides support and positioning for the second bearing 34 and the first bearing 35.

[0042] There is one partition plate 31. There are two mounting bases 32, bearing bases 33, second bearings 34, first bearings 35, and outer end caps 37, which are symmetrically arranged on the left and right sides of the partition plate 31.

[0043] The spacer plate 31 is arranged along a vertical plane perpendicular to the photovoltaic panel 200 and has a first hole 301 located at the center. One roller 50 extends into the first hole 301 for positioning, and the other roller 50 extends into the end housing 9 for positioning and is driven. Therefore, each brush 5 connected and fixed between the two rollers 50 can be positioned at the center of the spacer plate 31 and rotate independently. In a specific embodiment, the first roller 501 and the fourth roller 504 extend into the end housing 9 for positioning, and are rollers 50 near the end of the cleaning robot 100; the second roller 502 and the third roller 503 extend into the first hole 301 of the spacer plate 31 for positioning, and are rollers 50 near the center of the cleaning robot 100. The spacer plate 31 also has a second hole 302 located in front of the first hole 301 and a third hole 303 located behind the first hole 301. The second hole 302 and the third hole 303 provide positioning for the central traveling wheel 63 (described in detail later), facilitating the fixed connection of the central traveling wheel 63 to the connecting mechanism assembly 3. The spacer plate 31 is provided with a plurality of screw holes 305 through which screws 14 pass for positioning.

[0044] The mounting base 32 includes a vertically mounted first plate 321 and a second plate 322 extending horizontally from the top of the first plate 321. The mounting base 32 also includes two reinforcing third plates 323, which are respectively connected between the front edge of the first plate 321 and the lower surface of the second plate 322, and between the rear edge of the first plate 321 and the lower surface of the second plate 322. The first plate 321 has a circular first central hole 320, the size of which is at least large enough for the bearing housing 33 to pass through. The second plate 322 includes a longitudinal arm 3221 and two transverse arms 3222 formed by bending from both ends of the longitudinal arm 3221 in the same direction. Therefore, the two transverse arms 3222 and the longitudinal arm 3221 form a U-shape, i.e., the second plate 322 is a U-shape for convenient installation. The first plate 321 and the second plate 322 each have several through screw holes 305, the size of the first central hole 320 being much larger than the size of the screw holes 305. The mounting beam 11 is fixedly connected to the second plate 322 by screws 14 passing through screw holes 305 on the second plate 322 and further by the screws 14 and nuts 15. That is, one end of the mounting beam 11 is supported on the second plate 322. The other end of the mounting beam 11 is inserted into the gap between the first housing 91 and the second housing 92 and supported on the shoulder of the convex-shaped first housing 91. The two mounting beams 11 are arranged in a C-shape facing each other in the forward and backward direction of the cleaning robot 100 of the present invention, and a fixed cover 12 is connected above the two mounting beams 11 to form the upper housing 10 of each mechanism component 1, 2. The cover 12 is suspended above the brush 5 and has a shielding effect. An electrical control box 13 is also provided below the upper housing 10 of the upper mechanism component 1 (or lower mechanism component 2). The electrical control box 13 is used to control the start of the upper drive component 41 and the lower drive component 42.

[0045] The bearing housing 33 includes an inner ring surface 331, an outer ring surface 332, and an annular body 333 connected between the inner ring surface 331 and the outer ring surface 332. The annular body 333 is provided with four screw holes 305 for screws 14 to pass through.

[0046] The second bearing 34 is a deep groove ball bearing, which consists of an outer ring, an inner ring, a set of steel balls, and a cage. The second bearing 34 is embedded in the inner ring surface 331 of the bearing housing 33 for positioning.

[0047] Each of the first bearings 35 includes a first end 351 and a second end 352 relative to the spacer plate 31. That is, the side of the first bearing 35 closer to the spacer plate 31 is the first end 351, and the side of the first bearing 35 away from the spacer plate 31 is the second end 352. Both the second end 352 and the first end 351 are annular in shape. The inner diameter of the second end 352 facing the center is equal to the inner diameter of the first end 351 facing the center, and the outer diameter of the second end 352 facing away from the center is smaller than the outer diameter of the first end 351 facing away from the center. In other words, the second end 352 and the first end 351 are integrally extended concentric circles. The first bearing 35 is fitted onto the outer annular surface 332 of the bearing seat 33 for positioning.

[0048] After the mounting base 32, the second bearing 34, the first bearing 35, and the bearing seat 33 are respectively installed on the spacer plate 31, the outer end cap 37 covers the first central hole 320 and abuts against the outside of the mounting base 32 for positioning. The outer end cap 37 is provided with a second central hole 370 through which the roller shaft 50 passes and a screw hole 305 arranged around the outer periphery of the second central hole 370 for the screw 14 to pass through.

[0049] Along the axial direction of roller 50, i.e. Figure 4 In the left-right direction, the screw 14 passes through the outer end cover 37 on one side of the partition plate 31, the bearing seat 33 on one side of the partition plate 31, the partition plate 31, the bearing seat 33 on the other side of the partition plate 31, and the outer end cover 37 on the other side of the partition plate 31 in sequence and is fixed with the nut 15. That is, the cooperation between the screw 14 and the nut 15 symmetrically fixes the outer end cover 37 and the bearing seat 33 on both sides of the partition plate 31 to the partition plate 31. The bearing seat 33 is used to provide positioning, and the outer end cover 37 is used to block and seal.

[0050] Centered on roller shaft 50 and along its radial direction from the inside out, roller shaft 50, second bearing 34, bearing housing 33, first bearing 35, and mounting base 32 are sequentially fitted together. Specifically, the second bearing 34 is sandwiched between the inner ring surface 331 of the roller shaft 50 and the bearing housing 33, thereby reducing the frictional resistance between the roller shaft 50 and the bearing housing 33, thus ensuring the rolling motion of the roller shaft 50 relative to the bearing housing 33. The first bearing 35 is made of high-molecular-weight plastic, possessing high strength, wear resistance, and self-lubricating properties. The first end 351 of the first bearing 35 is axially clamped between the mounting base 32 and the spacer plate 31, and the second end 352 of the first bearing 35 is radially clamped between the outer ring surface 332 of the bearing seat 33 and the mounting base 32. That is, the two mounting bases 32 are connected by nested first bearings 35 of polymer material, i.e. plastic bearings, at their rotational positions relative to the spacer plate 31. The polymer plastic bearings have the characteristics of high strength, wear resistance and self-lubrication, which makes the mounting bases 32 on the left and right sides rotate more smoothly relative to the spacer plate 31.

[0051] When the cleaning robot 100 of this invention passes through the X-shaped bridge, the two mounting seats 32 on both sides of the partition plate 31 each rotate in opposite directions relative to the partition plate 31. For example, if the mounting seat 32 on the left side of the partition plate 31 rotates counterclockwise relative to the partition plate 31 from front to back, then the mounting seat 32 on the right side of the partition plate 31 rotates clockwise relative to the partition plate 31 from back to front. It should be noted that during the above clockwise and counterclockwise rotation, the robot is subjected to the elastic balancing force of the spring members 36. There are four spring members 36, two of which are distributed on the left side of the partition plate 31 and the other two are distributed on the right side of the partition plate 31. The two spring members 36 on the left are arranged back-to-back along the traveling direction of the cleaning robot 100 of the present invention, and can be referred to as the first spring member 361 on the left and in front of the traveling direction and the second spring member 362 on the left and behind the traveling direction; the two spring members 36 on the right are also arranged back-to-back along the traveling direction of the cleaning robot 100 of the present invention, and can be referred to as the third spring member 363 on the right and in front of the traveling direction and the fourth spring member 364 on the right and behind the traveling direction. In a specific embodiment, the spring member 36 is a tension spring, and each spring member 36 has a hook portion 360 at both opposite ends.

[0052] The connecting mechanism assembly 3 further includes several hanging plates 38. For example, in a specific embodiment of the present invention, there are six hanging plates 38: a first hanging plate 381, a second hanging plate 382, ​​and a third hanging plate 383 located on one side of the partition plate 31, and a fourth hanging plate 384, a fifth hanging plate 385, and a sixth hanging plate 386 located on the other side of the partition plate 31. Each hanging plate 38 includes a fixing part 3801 and a hook part 3802. The fixing part 3801 is provided with several screw holes 305 for screws 14 to pass through. The screws 14 cooperate with the nuts 15 to position the hanging plate 38 on the mounting base 32 or the partition plate 31. The hook part 3802 is provided with positioning holes 3800 (unlabeled) for the hook part 360 of the spring member 36 to be positioned. In this configuration, the first hanging plate 381, the third hanging plate 383, the fourth hanging plate 384, and the sixth hanging plate 386 are all L-shaped structures formed by the fixed part 3801 extending only on one side to form the hook part 3802; the second hanging plate 382 and the fourth hanging plate 384 are U-shaped structures formed by the fixed part 3801 extending from both sides to form the hook part 3802. That is, the first hanging plate 381, the third hanging plate 383, the fourth hanging plate 384, and the sixth hanging plate 386 each have only one positioning hole 3800, while the second hanging plate 382 and the fourth hanging plate 384 each have two positioning holes 3800. In the first spring member 361, the second spring member 362, the third spring member 363, and the fourth spring member 364, the lower end of each spring member 36 is mounted on the spacer plate 31 via one hanging plate 38, and the upper end of each spring member 36 is mounted on the mounting base 32 via another hanging plate 38. For example, on the left side of the partition plate 31, the hook portion 360 at the lower end of the first spring member 361 is positioned and installed on the partition plate 31 through the positioning hole 3800 on the first hanging plate 381. The hook portion 360 at the upper end of the first spring member 361 is positioned and installed on the mounting base 32 through the through hole in front of the second hanging plate 382. The hook portion 360 at the lower end of the second spring member 362 is positioned and installed on the partition plate 31 through the positioning hole 3800 on the third hanging plate 383. The hook portion 360 at the upper end of the second spring member 362 is also positioned and installed on the mounting base 32 through the positioning hole 3800 behind the second hanging plate 382. The fourth hanging plate 384, the fifth hanging plate 385, and the sixth hanging plate 386 are installed and positioned on the right side of the partition plate 31 in a manner substantially the same as that of the first hanging plate 381, the second hanging plate 382, ​​and the third hanging plate 383.

[0053] Since the cleaning robot 100 of this invention cleans between two photovoltaic panels 200 with a large span, to ensure stability during movement, in addition to the upper walking wheel 61 on the left and the lower walking wheel 62 on the right, this invention also includes a middle walking wheel 63 connected and positioned on the partition plate 31 to provide support. There are two middle walking wheels 63 arranged front and rear, respectively mounted on the second hole 302 and the third hole 303 via walking wheel axles 60. The two middle walking wheels 63 can be mounted on the left or right side of the partition plate 31. In a specific embodiment, if the two central walking wheels 63 are installed on the right side of the partition plate 31, then a connecting bridge 300 is provided not only on the outer side but also on the inner side between the two photovoltaic panels 200 on the right side, so that the central walking wheels 63 can pass through. In other embodiments, one of the central walking wheels 63 may be installed on the left side of the partition plate 31 and the other central walking wheel 63 may be installed on the right side of the partition plate 31, then a connecting bridge 300 needs to be provided on both inner sides of the left and right sides.

[0054] When the cleaning robot 100 of the present invention is operating normally on the photovoltaic panel 200 and performing cleaning work, the upper and lower parts of the cleaning robot 100, namely the upper mechanism component 1 and the lower mechanism component 2, are at the same angle. Due to the extension and contraction force of the spring 36, the two mechanism components 1 and 2 of the cleaning robot 100 can be kept running in a parallel state. When the cleaning robot 100 passes through the "X"-shaped connecting bridge 300 with a spatial intersection angle, the cleaning robot 100 is affected by its own gravity, which will force some of the springs 36 in the connecting mechanism component 3 to be stretched and others to be compressed. For example, the second spring 362 on the left and rear of the travel direction is compressed downward, the first spring 361 on the left and front of the travel direction is stretched upward, the third spring 363 on the right and front of the travel direction is compressed downward, and the fourth spring 364 on the right and rear of the travel direction is stretched upward. That is, regarding the two spring members 36 on the same side, one is compressed and the other is stretched; and regarding the four spring members 36 on different sides, two on one diagonal are compressed and two on the other diagonal are stretched. Therefore, the upper mechanism assembly 1 and lower mechanism assembly 2 on the left and right sides of the travel direction rotate in opposite directions relative to the partition plate 31 through the connecting mechanism assembly 3, allowing the traveling wheels 6 on the left and right sides of the travel direction, i.e., the upper traveling wheel 61 and the lower traveling wheel 62, to operate at different angles. This can also be understood as: Figure 17The upper mechanism component 1 shown is on a downhill slope and the lower mechanism component 2 is on an uphill slope. The upper mechanism component 1 and the lower mechanism component 2 are tilted at an angle to accommodate the spatial intersection angle between the connecting bridge 300. When the cleaning robot 100 of the present invention passes through the connecting bridge 300 with the spatial intersection angle and returns to the photovoltaic panel 200 at the same angle, the self-stress of the four springs 36 will keep the upper mechanism component 1 and the lower mechanism component 2 of the cleaning robot 100 of the present invention running in a parallel state.

[0055] The cleaning robot 100 of this invention ensures that the walking wheels 6 on both sides are always in close contact with the two connecting bridges 300 through the connecting mechanism component 3, and can stably run through the connecting bridges 300 with spatial intersection angles without the phenomenon of suspension and slippage, thus avoiding the risk of the walking wheels 6 falling off the connecting bridges 300; the first bearing 35 between the partition plate 31 and the mounting base 32 is a high-polymer plastic bearing, which has the characteristics of high strength, wear resistance and self-lubrication, so that the mounting base 32 can rotate more smoothly relative to the partition plate 31.

[0056] The above embodiments are only used to illustrate the present invention and are not intended to limit the technical solutions described in the present invention. The understanding of this specification should be based on those skilled in the art. For example, the directional descriptions such as "front", "back", "left", "right", "up", and "down" are important. Although the present invention has been described in detail with reference to the above embodiments, those skilled in the art should understand that they can still modify or make equivalent substitutions to the present invention. All technical solutions and improvements that do not depart from the spirit and scope of the present invention should be covered within the scope of the claims of the present invention.

Claims

1. A cleaning robot characterized by comprising: The connecting mechanism assembly (3) comprises a bearing assembly, the bearing assembly comprises two first bearings (35), the first bearing (35) at least comprises a first end (351) clamped between the spacing plate (31) and the mounting seat (32).

2. The cleaning robot according to claim 1, wherein The bearing assembly comprises two bearing seats (33), the bearing seat (33) comprises an inner ring surface (331) and an outer ring surface (332), the first bearing (35) is sleeved on the outer ring surface (332) of the bearing seat (33) to be positioned; the first bearing (35) further comprises a second end (352), the second end (352) and the first end (351) are arranged in the form of concentric circles extended integrally, and the second end (352) is clamped between the mounting seat (32) and the bearing seat (33).

3. The cleaning robot according to claim 2, wherein The bearing assembly comprises two second bearings (34), the second bearing (34) is correspondingly embedded in the inner ring surface (331) of the bearing seat (33) to be positioned.

4. The cleaning robot according to claim 3, wherein The mounting seat (32) comprises a first plate (321) and a second plate (322) extending on the top of the first plate (321), the first plate (321) is provided with a first center hole (320), and the size of the first center hole (320) is at least capable of allowing the bearing seat (33) to pass through.

5. The cleaning robot according to claim 3, wherein Part of the bearing assembly is located in the first center hole (320), and the connecting mechanism assembly (3) comprises an outer end cover (37), the outer end cover (37) covers part of the bearing assembly in the first center hole (320) and is located in abutment on the outer side of the mounting seat (32).

6. The cleaning robot according to claim 5, wherein ​ 7. The cleaning robot according to claim 6, wherein The connecting mechanism assembly (3) further comprises a screw (14) and a nut (15); the screw (14) passes through, in sequence, an outer end cover (37) on one side of the partition plate (31), a bearing seat (33) on one side of the partition plate (31), the partition plate (31), a bearing seat (33) on the other side of the partition plate (31), an outer end cover (37) on the other side of the partition plate (31), and is fixed with the nut (15); the screw (14) and the nut (15) symmetrically fix and connect the outer end covers (37) and the bearing seats (33) on both sides of the partition plate (31) on the partition plate (31).

8. The cleaning robot according to claim 4, wherein The partition plate (31) is provided with a first hole (301) in the center; the upper mechanism assembly (1) and the lower mechanism assembly (2) are symmetrically arranged on both sides of the connecting mechanism assembly (3) and each comprises an end housing (9), a driving member (4) and a brush (5); each brush (5) is provided with two roller shafts (50) at two ends respectively, one of which extends into the first hole (301) for positioning, and the other extends into the end housing (9) for positioning and is driven by the driving member (4).

9. The cleaning robot according to claim 8, wherein, The second bearing (34) is clamped between the roller shaft (50) and the inner ring surface (331) of the bearing seat (33).

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