Cleaning robot

Abstract

The invention belongs to the technical field of photovoltaic panel cleaning, and discloses a cleaning robot. The cleaning robot comprises a body frame, a crawler belt assembly and a cleaning assembly. The cleaning assembly is arranged on the body frame and used for cleaning a photovoltaic panel. The crawler belt assemblies are arranged on the body frame, and the two crawler belt assemblies are arranged in the first direction in a spaced mode and can support and drive the body frame to move in the second direction; the crawler belt assembly comprises a crawler belt with a guide groove, the length of the crawler belt in the second direction is larger than the maximum spacing distance between the two adjacent string photovoltaic panels, and when the cleaning robot moves to the position between the two adjacent string photovoltaic panels, at least part of the crawler belt assembly is located on the photovoltaic panels. The support structure between the two adjacent string photovoltaic panels is located in the guide groove of the crawler belt, and along with rotation of the crawler belt, the cleaning robot smoothly passes through the interval between the two adjacent string photovoltaic panels and continuously completes cleaning.

Description

Technical Field

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

[0002] Photovoltaic power station refers to a photovoltaic power generation system that uses solar energy and special materials such as crystalline silicon panels, inverters and other electronic components to connect to the power grid and transmit electricity to the grid. The core part of a photovoltaic power station is the layout of photovoltaic panels. The installation of photovoltaic panels requires the use of fixed support structures or flexible support structures. Fixed support structures use steel or aluminum as the main materials. Flexible support structures refer to the installation of photovoltaic panels on rows of steel strands. Its structure is similar to a cable bridge, in which the "bridge piers" are supporting steel frames and the "bridge deck" is the photovoltaic panels.

[0003] In the prior art, photovoltaic panels are laid in strings, and the gap between two adjacent photovoltaic panels in the same string is relatively small, while the gap between photovoltaic panels in two different strings is relatively large. Usually, the cleaning device is usually used for photovoltaic panels with relatively small gaps. It is difficult for the cleaning device to move unimpeded between two photovoltaic panels with large gaps and on a flexible support structure. As a result, after the cleaning device cleans a group of photovoltaic panels in a string, it is necessary to add specific equipment to carry and transfer it to another adjacent string. The process is cumbersome and results in a long cleaning cycle.

[0004] Therefore, there is an urgent need to provide a cleaning robot that can not only clean a string of photovoltaic panels, but also move on the support structure and then pass through the gaps between adjacent strings of photovoltaic panels to directly and continuously complete the cleaning of different strings of photovoltaic panels, thereby expanding the continuous cleaning range of the cleaning robot, shortening the cleaning cycle, and improving the cleaning efficiency. Summary of the invention

[0005] The purpose of the present invention is to provide a cleaning robot that can not only clean a string of photovoltaic panels, but also move on a support structure and pass through the gaps between adjacent strings of photovoltaic panels to directly and continuously complete the cleaning of different strings of photovoltaic panels, thereby expanding the continuous cleaning range of the cleaning robot, shortening the cleaning cycle, and improving the cleaning efficiency.

[0006] To achieve this object, the present invention adopts the following technical solutions:

[0007] The present invention provides a cleaning robot, the cleaning robot comprising:

[0008] A main body frame and a cleaning component, wherein the cleaning component is arranged on the main body frame and is used for cleaning the photovoltaic panel;

[0009] A track assembly is arranged on the main body frame, and at least two groups of track assemblies are arranged at intervals along a first direction. The track assembly includes a track with a guide groove, and the length of the track along a second direction is greater than the maximum spacing distance between two adjacent strings of photovoltaic panels. The guide groove is used to accommodate a support structure located between two adjacent strings of photovoltaic panels.

[0010] As an optional technical solution for a cleaning robot, the track assembly includes a driving wheel, a driven wheel and a connecting piece, the connecting piece is detachably connected to the main body frame, the track is wrapped around the outside of the driving wheel and the driven wheel, and the driving wheel and the driven wheel are both rotatably set on the connecting piece to drive the track to rotate.

[0011] As an optional technical solution for a cleaning robot, the track assembly also includes a floating wheel rotatably arranged on the connecting member, wherein the floating wheel is attached to the inner side of the track and is located between the driving wheel and the driven wheel.

[0012] As an optional technical solution for a cleaning robot, the track assembly further includes a fixed plate, and two floating wheels are provided, and the two floating wheels are rotatably arranged on the connecting member via the fixed plate.

[0013] As an optional technical solution of a cleaning robot, the track assembly further includes a tensioning structure, and the tensioning structure includes:

[0014] a guide plate, the guide plate being slidably disposed on the connecting member along the second direction, and the driven wheel being rotatably connected to the guide plate;

[0015] The adjuster is arranged on the connecting member along the second direction and has an end portion pressed against the guide plate.

[0016] As an optional technical solution for a cleaning robot, it also includes an auxiliary support component, and at least two groups of the auxiliary support components are arranged at intervals along the second direction, and the front end and the end of the track assembly are located between two adjacent groups of the auxiliary support components.

[0017] As an optional technical solution for a cleaning robot, the auxiliary support assembly includes auxiliary wheels and shock-absorbing elastic members arranged one-to-one with the auxiliary wheels, and the auxiliary wheels are connected to the main body frame through the shock-absorbing elastic members.

[0018] As an optional technical solution for a cleaning robot, the cleaning components are arranged in two groups at intervals along the second direction, and the track assembly is located between the two groups of cleaning components.

[0019] As an optional technical solution for a cleaning robot, the cleaning component includes a roller brush, which is rotatably arranged on the main body frame, and the setting height of the roller brush is adjustable.

[0020] As an optional technical solution for a cleaning robot, the cleaning component also includes two first mounting plates and two second mounting plates, the first mounting plates are connected to the main body frame, and the two ends of the roller brush are respectively rotatably connected to the two second mounting plates, and each first mounting plate is detachably connected to a corresponding second mounting plate to adjust the setting height of the roller brush.

[0021] Beneficial effects:

[0022] The present invention provides a cleaning robot, which includes a main body frame, a track assembly and a cleaning assembly. The cleaning assembly is arranged on the main body frame and is used to clean photovoltaic panels. The track assembly is arranged on the main body frame, and at least two groups of track assemblies are arranged at intervals along a first direction. The track assembly includes a track with a guide groove, and the length of the track along a second direction is greater than the maximum spacing distance between two adjacent groups of photovoltaic panels. The guide groove is used to accommodate a support structure located between two adjacent groups of photovoltaic panels. By arranging two track assemblies at intervals along the first direction, the two track assemblies can support the main body frame and drive the main body frame to move, so that it can clean a group of photovoltaic panels. Since the length of the track along the second direction is greater than the maximum spacing distance between two adjacent groups of photovoltaic panels, and the track is provided with a guide groove, when the cleaning robot moves along the second direction to a position between two adjacent groups of photovoltaic panels (for example, from a first string of photovoltaic panels to a second string of photovoltaic panels), the front end of the track assembly first moves from the first string of photovoltaic panels to the support structure between the first string of photovoltaic panels and the second string of photovoltaic panels, and the end of the track assembly is still located at the first string of photovoltaic panels. On the board, the support structure is located in the guide groove of the track. As the track rotates, the front end of the track assembly moves to the second string of photovoltaic panels, and then the end of the track assembly also moves to the second string of photovoltaic panels. In this process, it is ensured that the track assembly is at least partially located on the photovoltaic panels, so that the cleaning robot can move on the support structure, and then smoothly pass through the interval between two adjacent strings of photovoltaic panels. It is suitable for both fixed support structures and flexible support structures (such as steel wire ropes); the cleaning assembly is used to directly and continuously complete the cleaning of different groups of photovoltaic panels, thereby expanding the continuous cleaning range of the cleaning robot, effectively shortening the cleaning cycle and improving the cleaning efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] Figure 1 is a first structural schematic diagram of a cleaning robot provided by an embodiment of the present invention;

[0024] Figure 2 is a schematic diagram of the structure of the ontology framework provided by an embodiment of the present invention;

[0025] Figure 3 is a first structural schematic diagram of a crawler track assembly provided by an embodiment of the present invention;

[0026] Figure 4 is a second structural schematic diagram of a crawler track assembly provided by an embodiment of the present invention;

[0027] Figure 5 is a partial exploded view of a crawler track assembly provided by an embodiment of the present invention;

[0028] Figure 6 is a schematic structural diagram of a main body frame and an auxiliary support assembly provided by an embodiment of the present invention;

[0029] Figure 7 It is a structural schematic diagram of a main body frame and a cleaning assembly provided by an embodiment of the present invention;

[0030] Figure 8 yes Figure 7 A partial enlarged view of the middle A;

[0031] Fig. 9 It is a second structural schematic diagram of the cleaning robot provided in an embodiment of the present invention.

[0032] In the figure:

[0033] 10. Main frame; 11. Main frame; 12. Shell;

[0034] 20. Control components;

[0035] 30. crawler track assembly; 31. driving wheel; 32. driven wheel; 33. crawler track; 331. guide groove; 34. first driving member; 35. floating wheel; 36. fixing plate; 37. connecting member;

[0036] 38. tensioning structure; 381. guide plate; 382. disk shaft; 383. regulator;

[0037] 40. Cleaning assembly; 41. Roller brush; 42. First mounting plate; 43. Second mounting plate;

[0038] 50. Auxiliary support assembly; 51. Auxiliary wheel; 52. Shock-absorbing elastic member;

[0039] 60. Anti-slip assembly; 61. Correction wheel; 62. Anti-slip wheel. DETAILED DESCRIPTION

[0040] The present invention will be further described in detail below in conjunction with the accompanying drawings and embodiments. It is to be understood that the specific embodiments described herein are only used to explain the present invention, rather than to limit the present invention. It should also be noted that, for ease of description, only parts related to the present invention, rather than all structures, are shown in the accompanying drawings.

[0041] In the description of the present invention, unless otherwise clearly specified and limited, the terms "connected", "connected", and "fixed" 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 a direct connection or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0042] In the present invention, unless otherwise clearly specified and limited, a first feature being "above" or "below" a second feature may include that the first and second features are in direct contact, or may include that the first and second features are not in direct contact but are in contact through another feature between them. Moreover, a first feature being "above", "above" and "above" a second feature includes that the first feature is directly above and obliquely above the second feature, or simply indicates that the first feature is higher in level than the second feature. A first feature being "below", "below" and "below" a second feature includes that the first feature is directly below and obliquely below the second feature, or simply indicates that the first feature is lower in level than the second feature.

[0043] In the description of this embodiment, the terms "upper", "lower", "right", etc., directions or positional relationships are based on the directions or positional relationships shown in the drawings, and are only for the convenience of description and simplification of operation, rather than indicating or implying that the device or element referred to must have a specific direction, be constructed and operated in a specific direction, and therefore cannot be understood as limiting the present invention. In addition, the terms "first" and "second" are only used to distinguish in the description and have no special meaning.

[0044] like Figures 1 to 3 As shown, the present embodiment provides a cleaning robot, which includes a main body frame 10, a track assembly 30 and a cleaning assembly 40. The cleaning assembly 40 is arranged on the main body frame 10 for cleaning the photovoltaic panel; the track assembly 30 is arranged on the main body frame 10, and the track assembly 30 is arranged in at least two groups at intervals along a first direction. The track assembly 30 includes a track 33 with a guide groove 331. The length of the track 33 along the second direction is greater than the maximum spacing distance between two adjacent groups of photovoltaic panels. The guide groove 331 is used to accommodate a support structure located between two adjacent groups of photovoltaic panels.

[0045] By arranging two track assemblies 30 at intervals along the first direction, the two track assemblies 30 can support the main frame 10 and drive the main frame 10 to move, so that it can clean a group of photovoltaic panels; because the length of the track 33 along the second direction is greater than the maximum spacing distance between two adjacent photovoltaic panels, and a guide groove 331 is provided on the track 33, when the cleaning robot moves along the second direction to a position between two adjacent groups of photovoltaic panels (for example, from the first string of photovoltaic panels to the second string of photovoltaic panels), the front end of the track assembly 30 first moves from the first string of photovoltaic panels to the support structure between the first string of photovoltaic panels and the second string of photovoltaic panels, and the end of the track assembly 30 is still located at the first string of photovoltaic panels. On the panel, the support structure is located in the guide groove 331 of the track 33. As the track 33 rotates, the front end of the track assembly 30 moves to the second string of photovoltaic panels, and then the end of the track assembly 30 also moves to the second string of photovoltaic panels. In this process, it is ensured that the track assembly 30 is at least partially located on the photovoltaic panel, so that the cleaning robot can move on the support structure and then smoothly pass through the interval between two adjacent strings of photovoltaic panels. It is suitable for both fixed support structures and flexible support structures (such as steel wire ropes); the cleaning assembly 40 is used to directly and continuously complete the cleaning of different groups of photovoltaic panels, thereby expanding the continuous cleaning range of the cleaning robot, effectively shortening the cleaning cycle and improving the cleaning efficiency.

[0046] It can be understood that the flexible support structure refers to the installation of photovoltaic panels on rows of steel wire ropes, and due to the ups and downs of the flexible support structure, the operation of the cleaning robot is extremely difficult. The cleaning robot provided in this embodiment uses the guide groove 331 to limit the position, and the guide groove 331 accommodates the steel wire rope to play a guiding role, so that it can complete the movement between two adjacent groups of photovoltaic panels; the cleaning robot in this embodiment uses the track assembly 30 not only to move in a straight line in the second direction, but also to use the speed difference of the tracks 33 in the two groups of track assemblies 30 to achieve turning, so that the cleaning robot can move flexibly.

[0047] See also Figure 2 In this embodiment, the first direction is taken as an example of the X direction, the second direction is taken as an example of the Y direction, and the third direction is taken as an example of the Z direction; the main frame 10 includes a main frame 11 and a shell 12, the main frame 11 is assembled from a plurality of hollow square tubes, the main frame 11 is in an I-shape as a whole, and the shell 12 is covered on the top of the main frame 11; the first direction is the length direction of the main frame 11, and the second direction is the width direction of the main frame 11; bolts or welding can be used to connect every two square tubes and between the square tubes and the shell 12.

[0048] In this embodiment, the structures of the two groups of track assemblies 30 are the same, each group of track assemblies 30 includes a track 33, and the lengths of the two track assemblies 33 along the second direction are designed to be 0.6 m. In other embodiments, the total length of the track 33 along the second direction can be adaptively adjusted according to the actual maximum spacing distance between two adjacent groups of photovoltaic panels.

[0049] Optionally, the cleaning robot also includes a control component 20, which is arranged in the middle of the main frame 11; the cleaning robot also includes a sensor component, which can identify and judge the posture of the cleaning robot and send a signal to the control component 20, and the control component 20 controls the rotation of the track component 30 to realize the walking of the cleaning robot.

[0050] In this embodiment, the cleaning robot is an autonomous walking robot. The cleaning robot can automatically identify the location and layout of photovoltaic panels, can autonomously complete the cleaning of a string of photovoltaic panels, and can autonomously pass through the intervals between adjacent strings of photovoltaic panels to complete the cleaning of different strings of photovoltaic panels, eliminating the existing steps of surveying, custom design and installation of auxiliary devices, further saving cleaning time and improving cleaning efficiency; the autonomous walking of the cleaning robot relies on the comprehensive application of multiple technologies such as sensing technology and navigation technology, which can be specifically referred to the existing technology and will not be repeated here.

[0051] See also Figures 3 to 5 The track assembly 30 includes a driving wheel 31, a driven wheel 32 and a connecting member 37. The connecting member 37 is detachably connected to the main body frame 10. The track 33 is wound around the outside of the driving wheel 31 and the driven wheel 32. The driving wheel 31 and the driven wheel 32 are both rotatably arranged on the connecting member 37 to drive the track 33 to rotate. By setting the connecting member 37, the connecting member 37 is detachably connected to the main body frame 10, so that the track assembly 30 can be installed and fixed at a suitable position and a suitable height of the main body frame 10; by setting the driving wheel 31 and the driven wheel 32, the driving wheel 31 and the driven wheel 32 can cooperate with the installation of the track 33 and drive the track 33 to rotate, and the track 33 contacts the photovoltaic panel, thereby realizing the movement of the cleaning robot.

[0052] In this embodiment, the guide groove 331 is provided on the outer surface of the crawler 33, and the guide groove 331 is located in the middle of the crawler 33; the connecting member 37 is in the shape of a flat plate, and the crawler assembly 30 further includes a lap plate, which is in the shape of an L-shaped plate, and the lap plate is detachably connected to the connecting member 37, and the connecting member 37 is detachably connected to the main frame 11 through the lap plate; wherein the lap plate and the connecting member 37 as well as the lap plate and the main frame 11 can be fixed by bolt connection. In other embodiments, the lap plate may not be provided, and the connecting member 37 may be directly fixed to the main frame 11 by bolts.

[0053] Optionally, the crawler assembly 30 further includes a first driving member 34, which is a motor for driving the driving wheel 31 to rotate. Optionally, the outer surface of the crawler 33 is provided with an anti-skid layer, which can be an anti-skid texture provided on the outer surface of the crawler 33.

[0054] Furthermore, the crawler assembly 30 further includes a floating wheel 35, which is rotatably arranged on the connecting member 37, and the floating wheel 35 is attached to the inner side of the crawler 33, and the floating wheel 35 is located between the driving wheel 31 and the driven wheel 32. By arranging the floating wheel 35 inside the crawler 33, when the setting heights of two adjacent photovoltaic panels are different, the floating wheel 35 can be between the driving wheel 31 and the driven wheel 32, and play a role in supporting the crawler 33, so that the cleaning robot has better stability.

[0055] Furthermore, the track assembly 30 further includes a fixing plate 36, and two floating wheels 35 are provided, and the two floating wheels 35 are rotatably provided on the connecting member 37 through the fixing plate 36. By providing the fixing plate 36 to connect the two floating wheels 35, the two floating wheels 35 and the fixing plate 36 can rotate relative to the main frame 11, and the adjustment is flexible and the stability is good, and it can be applied to photovoltaic panels with high and low misalignment.

[0056] In the present embodiment, each track assembly 30 includes a driving wheel 31, a driven wheel 32, a connecting member 37, two fixed plates 36 and two floating wheels 35. The axial directions of the driving wheel 31, the driven wheel 32 and the floating wheel 35 are parallel to the X direction. The fixed plate 36 is in the shape of a triangular flat plate. Two fixed plates 36 are arranged opposite to each other. The two fixed plates 36 are respectively located on both sides of the floating wheel 35 along the X direction. The fixed plate 36 has three corner positions, one corner position is rotatably connected to the connecting member 37, and the other two corner positions are respectively rotatably provided with a floating wheel 35, and each floating wheel 35 is rotatably arranged between the two fixed plates 36.

[0057] Optionally, the track assembly 30 further includes a tensioning structure 38, which includes a guide plate 381 and an adjuster 383. The guide plate 381 is slidably arranged on the connecting member 37 along the Y direction, and the driven wheel 32 is rotatably connected to the guide plate 381; the adjuster 383 is arranged on the connecting member 37 along the Y direction, and the end of the adjuster 383 presses against the guide plate 381. By arranging the guide plate 381 and the adjuster 383, the adjuster 383 is used to press against the guide plate 381, and then the setting position of the driven wheel 32 is controlled, so that the driven wheel 32 tightens the track 33 to maintain the tension of the track 33. Once the track 33 becomes loose, the adjuster 383 can be manually adjusted.

[0058] It is understandable that maintaining an appropriate degree of tension on the track 33 can reduce walking resistance, allowing the cleaning robot to walk more smoothly, thereby improving work efficiency and also improving the stability of the cleaning robot; if the track 33 is too tight, it will cause increased resistance during the walking of the cleaning robot; if the track 33 is too loose, it will not only easily fall off, but will also affect the moving speed and efficiency of the cleaning robot.

[0059] In this embodiment, each set of track assemblies 30 is provided with a tensioning structure 38; a first waist-shaped hole is provided on the connecting member 37, and the Y direction is the length direction of the waist-shaped hole; the track assembly 30 also includes a disc shaft 382, ​​the first end of the disc shaft 382 is against the guide plate 381, and the second end of the disc shaft 382 passes through the guide plate 381 and the first waist-shaped hole of the connecting member 37 and is rotatably connected to the driven wheel 32; a second waist-shaped hole is provided on the guide plate 381, and the Y direction is the length direction of the second waist-shaped hole, and the guide plate 381 is fixed to the connecting member 37 by bolts, and the bolts are slidably penetrated into the second waist-shaped hole and the ends are threadedly connected to the connecting member 37.

[0060] By setting waist-shaped holes on the connecting member 37 and the guide plate 381, when adjusting the adjuster 383, the adjuster 383 presses against the guide plate 381, so that the guide plate 381 drives the disk shaft 382 and the driven wheel 32 to move relative to the connecting member 37 along the Y direction, thereby adjusting the tension of the track 33.

[0061] In this embodiment, the adjuster 383 includes a fixed block and an adjusting bolt. The fixed block is fixed to the connecting member 37 by bolts. The adjusting bolt extends along the Y direction. The adjusting bolt is threadedly connected to the fixed block and the end of the adjusting bolt presses against the guide plate 381. By turning the adjusting bolt, the relative position of the adjusting bolt and the connecting member 37 along the Y direction can be changed, and the adjusting bolt is used to press against the guide plate 381, thereby adjusting the movement of the driven wheel 32 relative to the connecting member 37 along the Y direction, so that the track 33 reaches a suitable tensioning degree.

[0062] See also Figure 6 Due to the height difference of the photovoltaic panels, the center of gravity of the cleaning robot is prone to instability or even flipping when it moves on two adjacent groups of photovoltaic panels. To ensure the stability of the center of gravity, the cleaning robot also includes an auxiliary support assembly 50. The auxiliary support assembly 50 is arranged in at least two groups at intervals along the Y direction, and the front end and the end of the crawler assembly 30 are both located between the two adjacent groups of auxiliary support assemblies 50.

[0063] By setting up an auxiliary support assembly 50 and setting two sets of track assemblies 30 between the two sets of auxiliary support assemblies 50, when the cleaning robot moves on two adjacent strings of photovoltaic panels (for example, moving from the first string of photovoltaic panels to the second string of photovoltaic panels), the auxiliary wheels 51 of one set of auxiliary support assemblies 50 first move forward to the second string of photovoltaic panels, and then the front end of the track 33 can move forward to the second string of photovoltaic panels. The auxiliary wheels 51 play a supporting and balancing role, which can ensure that the center of gravity of the cleaning robot is stable, and avoid the cleaning robot from having an unstable center of gravity or even flipping and overturning.

[0064] Optionally, the auxiliary support assembly 50 includes an auxiliary wheel 51 and a shock-absorbing elastic member 52, the shock-absorbing elastic member 52 is arranged one-to-one with the auxiliary wheel 51, and the auxiliary wheel 51 is connected to the main frame 11 through the shock-absorbing elastic member 52. By providing the shock-absorbing elastic member 52, the auxiliary wheel 51 can adaptively maintain contact with the photovoltaic panel or the support structure, which helps to ensure the balance of the cleaning robot.

[0065] In this embodiment, two groups of auxiliary support assemblies 50 are arranged at intervals along the Y direction, and each group of auxiliary support assemblies 50 includes two auxiliary wheels 51 arranged at intervals along the X direction, which drive the auxiliary wheels 51 to move when the track 33 rotates; the two groups of track assemblies 30 are located between the two auxiliary wheels 51 of each group of auxiliary support assemblies 50; there are four shock-absorbing elastic members 52 in total, and the shock-absorbing elastic members 52 can be shock-absorbing springs.

[0066] See also Figure 7 and Figure 8 Furthermore, two groups of cleaning components 40 are arranged at intervals along the Y direction, and the crawler component 30 is located between the two groups of cleaning components 40; the cleaning component 40 includes a roller brush 41, which is rotatably arranged on the main frame 11, and the setting height of the roller brush 41 is adjustable. By setting two groups of cleaning components 40, the roller brushes 41 of the two groups of cleaning components 40 clean from both sides respectively, so that the cleaning robot has a two-way cleaning function, which is convenient to use and has strong applicability; by setting the roller brush 41 with an adjustable height, it is ensured that the roller brush 41 can contact the photovoltaic panel and complete the cleaning work.

[0067] In this embodiment, each group of cleaning components 40 includes a roller brush 41 extending along the X direction, the distance between the two roller brushes 41 is greater than the length of the track 33 along the Y direction, and the two roller brushes 41 are located between the two groups of auxiliary support components 50; each group of cleaning components 40 also includes a second driving member, which is used to drive the roller brush 41 to rotate; the second driving member can be a motor.

[0068] Optionally, the cleaning assembly 40 further includes two first mounting plates 42 and two second mounting plates 43, the first mounting plate 42 is connected to the main frame 11, and the two ends of the roller brush 41 are rotatably connected to the two second mounting plates 43, respectively, and each first mounting plate 42 is detachably connected to a corresponding second mounting plate 43 to adjust the setting height of the roller brush 41. The roller brush 41 is mounted on the main frame 11 through the first mounting plate 42 and the second mounting plate 43, and the first mounting plate 42 and the second mounting plate 43 are detachably connected, so as to facilitate the adjustment of the relative position of the first mounting plate 42 and the second mounting plate 43 to change the setting height of the roller brush 41. When the roller brush 41 is worn out during use, the setting position of the roller brush 41 needs to be adjusted in time to avoid affecting the cleaning effect due to the wear of the roller brush 41.

[0069] In this embodiment, each group of cleaning components 40 includes two first mounting plates 42 and two second mounting plates 43; the first mounting plate 42 is an L-shaped plate, and the first mounting plate 42 is overlapped and fixed to the main frame 11; the second mounting plate 43 is an L-shaped plate, and the first mounting plate 42 and the second mounting plate 43 both extend along the Z direction; the second driving member and the roller brush 41 are both arranged on the second mounting plate 43 and connected by a coupling, and the second driving member can drive the roller brush 41 to rotate.

[0070] Specifically, a round hole is provided on the first mounting plate 42, and a third waist-shaped hole is provided on the second mounting plate 43. The first mounting plate 42 and the second mounting plate 43 are partially overlapped to match the positions of the round hole and the third waist-shaped hole; the first mounting plate 42 and the second mounting plate 43 are connected and locked by bolts and nuts, the bolts are passed through the third waist-shaped hole and the ends are threadedly matched with the nut to clamp the first mounting plate 42 and the second mounting plate 43. After loosening the nut, the bolts can slide along the Z direction in the third waist-shaped hole.

[0071] See also Fig. 9 The cleaning robot also includes an anti-slip assembly 60, which includes a correction wheel 61. At least one correction wheel 61 is rotatably provided on both sides of the main frame 11, and the correction wheel 61 is used to fit the edge of the photovoltaic panel. By providing the correction wheels 61, the two correction wheels 61 are respectively fitted on the edges of both sides of the photovoltaic panel. As the cleaning robot moves, the correction wheels 61 rotate, and the movement direction of the cleaning robot is effectively limited by the correction wheels 61.

[0072] In this embodiment, the anti-slip assembly 60 includes a correction shaft arranged one-to-one with the correction wheel 61. The correction shaft is set on the main frame 11 by bolts, and the correction shaft extends along the Z direction. The correction wheel 61 is sleeved on the outside of the correction shaft and rotatably set on the correction shaft.

[0073] Optionally, the anti-slip assembly 60 also includes an anti-slip shaft and an anti-slip wheel 62. The anti-slip shaft extends along the X direction and is arranged on the main frame 11. The anti-slip wheel 62 is sleeved on the outside of the anti-slip shaft and is rotatably arranged on the anti-slip shaft. The top surface of the photovoltaic panel is in contact with the roller brush 41, and the anti-slip wheel 62 is located below the bottom surface of the photovoltaic panel, thereby preventing the cleaning robot from tipping over.

[0074] In the present embodiment, the anti-slip shaft is connected to the deflection correction shaft and is connected to the main frame 11 through the deflection correction shaft, and the axial direction of the anti-slip shaft is perpendicular to the deflection correction shaft; four groups of anti-slip components 60 are provided, and two groups of anti-slip components 60 are respectively provided on both sides of the main frame 11 along the X direction; the deflection correction wheel 61 and the anti-slip wheel 62 are both designed in an integrated manner; when the cleaning robot is operating normally, the anti-slip wheel 62 does not contact the photovoltaic panel, and the anti-slip wheel 62 is in a free state. If the cleaning robot is tilted or offset, the photovoltaic panel will contact the anti-slip wheel 62, and the anti-slip wheel 62 can prevent the cleaning robot from overturning; when the anti-slip wheel 62 contacts the photovoltaic panel, the anti-slip wheel 62 can passively rotate as the cleaning robot moves to prevent the cleaning robot from overturning or even getting stuck.

[0075] Obviously, the above embodiments of the present invention are merely examples for clearly illustrating the present invention, and are not intended to limit the embodiments of the present invention. For those skilled in the art, various obvious changes, readjustments and substitutions can be made without departing from the protection scope of the present invention. It is not necessary and impossible to list all the embodiments here. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention should be included in the protection scope of the claims of the present invention.

Claims

1. A cleaning robot, characterized in that: include: A main body frame (10) and a cleaning component (40), wherein the cleaning component (40) is arranged on the main body frame (10) and is used for cleaning the photovoltaic panel; A track assembly (30) is arranged on the main frame (10), and at least two groups of the track assembly (30) are arranged at intervals along a first direction. The track assembly (30) includes a track (33) with a guide groove (331), and the length of the track (33) along a second direction is greater than the maximum spacing distance between two adjacent groups of photovoltaic panels. The guide groove (331) is used to accommodate a support structure located between two adjacent groups of photovoltaic panels.

2. The cleaning robot according to claim 1, characterized in that: The crawler track assembly (30) comprises a driving wheel (31), a driven wheel (32) and a connecting piece (37); the connecting piece (37) is detachably connected to the main body frame (10); the crawler track (33) is wound around the outer sides of the driving wheel (31) and the driven wheel (32); the driving wheel (31) and the driven wheel (32) are both rotatably arranged on the connecting piece (37) to drive the crawler track (33) to rotate.

3. The cleaning robot according to claim 2, characterized in that: The crawler track assembly (30) further comprises a floating wheel (35) rotatably arranged on the connecting member (37); the floating wheel (35) is attached to the inner side of the crawler track (33) and is located between the driving wheel (31) and the driven wheel (32).

4. The cleaning robot according to claim 3, characterized in that: The crawler track assembly (30) further comprises a fixing plate (36), and two floating wheels (35) are provided. The two floating wheels (35) are rotatably arranged on the connecting member (37) via the fixing plate (36).

5. The cleaning robot according to claim 2, characterized in that: The track assembly (30) further includes a tensioning structure (38), wherein the tensioning structure (38) includes: a guide plate (381), the guide plate (381) being slidably disposed on the connecting member (37) along the second direction, and the driven wheel (32) being rotationally connected to the guide plate (381); An adjuster (383) is arranged on the connecting member (37) along the second direction and has an end portion pressed against the guide plate (381).

6. The cleaning robot according to claim 1, characterized in that: It also includes auxiliary support assemblies (50), wherein at least two groups of the auxiliary support assemblies (50) are arranged at intervals along the second direction, and the front end and the rear end of the track assembly (30) are both located between two adjacent groups of the auxiliary support assemblies (50).

7. The cleaning robot according to claim 6, characterized in that: The auxiliary support assembly (50) comprises an auxiliary wheel (51) and a shock-absorbing elastic member (52) arranged in a one-to-one correspondence with the auxiliary wheel (51); the auxiliary wheel (51) is connected to the main body frame (10) via the shock-absorbing elastic member (52).

8. The cleaning robot according to any one of claims 1 to 7, characterized in that: Two groups of the cleaning assemblies (40) are arranged at intervals along the second direction, and the track assembly (30) is located between the two groups of the cleaning assemblies (40).

9. The cleaning robot according to claim 8, characterized in that: The cleaning assembly (40) comprises a roller brush (41), and the roller brush (41) is rotatably arranged on the main body frame (10), and the setting height of the roller brush (41) is adjustable.

10. The cleaning robot according to claim 9, characterized in that: The cleaning assembly (40) further comprises two first mounting plates (42) and two second mounting plates (43), wherein the first mounting plates (42) are connected to the main body frame (10), and the two ends of the roller brush (41) are rotatably connected to the two second mounting plates (43), respectively, and each of the first mounting plates (42) is detachably connected to a corresponding one of the second mounting plates (43) to adjust the setting height of the roller brush (41).

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