Cleaning robot

Abstract

The invention relates to the technical field of photovoltaic array panel maintenance, and provides a cleaning robot which comprises a rack, a swing frame, a rotating assembly, a plurality of walking mechanisms and a cleaning piece, the swing frame is rotatably arranged on the rack, a side guide wheel is arranged on the swing frame and rotatably connected with the swing frame, and the rotating assembly is arranged on the side guide wheel. The rotating assembly is rotatably connected with the rack, the rotating axis of the rotating assembly is parallel to the length direction of the rack, and the swing frame is connected with the rotating assembly; at least one end of the cleaning part is connected with the rotating assembly, the cleaning part can rotate relative to the rack along with the rotating assembly, and the cleaning part keeps making contact with the panel face of the photovoltaic array panel. In the cleaning process of the cleaning robot, the cleaning part swings to adjust the distance between the cleaning part and the plate surface of the photovoltaic array panel, so that the cleaning part is in good contact with the plate surface of the photovoltaic array panel, and the situation that the cleaning part collides with the plate surface of the photovoltaic array panel to cause movement clamping stagnation is avoided, so that the cleaning part can cross a protrusion or a concave surface conveniently.

Description

Technical Field

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

[0002] In the related art, a hanging plate type cleaning robot is used to clean and maintain the photovoltaic array panel. The hanging plate type cleaning robot is specifically hung on the photovoltaic array panel along the inclination direction of the photovoltaic array panel and moves along the arrangement direction of the photovoltaic array panel. Usually, the above robot is provided with a walking mechanism, so as to drive the robot to move along the arrangement direction of the photovoltaic array panel so as to clean the photovoltaic array panel. However, the robot in the related art may get stuck or stuck on the photovoltaic array panel during walking relative to the photovoltaic array panel. Summary of the invention

[0003] The present invention provides a cleaning robot, which is used to solve the problem that the robot in the related art is stuck in walking or stuck on the photovoltaic array panel during walking. The present invention provides a cleaning robot, comprising: A rack, the rack being arranged along a light-receiving surface parallel to a photovoltaic array panel; A swing frame, the swing frame is rotatably arranged on the frame, the swing frame is provided with side guide wheels along the width direction of the frame, and the side guide wheels are rotatably connected to the swing frame; A rotating assembly, wherein the rotating assembly is rotatably connected to the frame, and a rotating axis of the rotating assembly is parallel to a length direction of the frame, and the swing frame is connected to the rotating assembly; A plurality of walking mechanisms, wherein the walking mechanisms are suitable for moving along the light-receiving surface and / or the frame of the photovoltaic array panel; A cleaning piece is used to clean the photovoltaic array panel. At least one end of the cleaning piece is connected to the rotating component. The cleaning piece can rotate relative to the frame following the rotating component. The cleaning piece maintains contact with the surface of the photovoltaic array panel.

[0004] A cleaning robot provided according to the present invention also includes: A swing angle detection mechanism, the swing angle detection mechanism is arranged between the frame and the swing frame, and the swing angle detection mechanism is used to detect the rotation angle between the swing frame and the frame; A controller is communicatively connected with the swing angle detection mechanism and is connected with the walking mechanism.

[0005] According to a cleaning robot provided by the present invention, when the frame is perpendicular to the swing frame, the position of the swing frame is the origin; The angle that the swing frame swings from the origin position is the rotation angle value; The frame has a first end and a second end, the first end of the frame is hung on the top edge of the photovoltaic array panel; the second end of the frame extends to the outside of the bottom edge of the photovoltaic array panel; In the walking direction of the cleaning robot, when the first end of the frame is located in front of the second end of the frame, the turning angle value is a positive value; When the second end of the rack is located in front of the first end of the rack, the rotation angle value is a negative value; When the first end of the frame is parallel to the second end of the frame, the frame is perpendicular to the swing frame, and the rotation angle value is 0.

[0006] According to a cleaning robot provided by the present invention, the swing frame is rotatably connected to the frame via a swing shaft; The cleaning robot further comprises a transmission mechanism, at least a portion of which is disposed on the swing shaft, and another portion of which is disposed on the swing angle detection mechanism.

[0007] According to a cleaning robot provided by the present invention, the transmission mechanism includes a first gear and a second gear, wherein the first gear is arranged on the swing shaft, and the second gear is arranged on the swing angle detection mechanism.

[0008] According to a cleaning robot provided by the present invention, the cleaning element comprises: A roller, wherein the roller is suitable for contacting with the panel surface of the photovoltaic array panel; A central shaft is passed through the roller, and the central shaft is detachably connected to the roller, and the central shaft is rotatably connected to the rotating assembly.

[0009] According to a cleaning robot provided by the present invention, the rotating assembly comprises: A driving box, wherein the driving box is rotatably connected to the frame, and the walking mechanism is connected to one side of the driving box; A connecting plate is connected to the other side of the driving box body, and the swing frame is connected to the connecting plate.

[0010] According to a cleaning robot provided by the present invention, the frame comprises: Main beam; A structural plate, the structural plate is arranged at the end of the main beam, the structural plate is not parallel to the main beam, and the structural plate is connected to the rotating assembly; A spindle assembly is provided through the rotating assembly and the structural plate, and the driving housing is rotatable around the central axis of the spindle assembly.

[0011] According to a cleaning robot provided by the present invention, the central axis of the cleaning member is parallel to the central axis of the spindle assembly but not on the same straight line.

[0012] According to a cleaning robot provided by the present invention, the second end of the frame is movably connected to an adjustment frame, and the side guide wheel is arranged on the adjustment frame; The cleaning robot further comprises a locking mechanism, wherein the locking mechanism is provided on at least one of the adjusting frame and the frame, and when the peripheral wall of the side guide wheel is at a preset distance from the lower edge of the photovoltaic array panel, the other of the adjusting frame and the frame is connected to the locking mechanism to lock the relative position of the adjusting frame and the frame; Wherein, along the arrangement direction of the photovoltaic array panels, the preset distance is greater than or equal to the maximum misalignment distance between two adjacent photovoltaic panels.

[0013] The cleaning robot provided by the present invention is provided with a swing frame and side guide wheels arranged on the swing frame, and the side guide wheels are rotatably connected to the swing frame. When the cleaning robot moves along the arrangement direction of the photovoltaic array panels, the side guide wheels move on the upper edge of the photovoltaic array panels. When the side guide wheels move to the misaligned position of two adjacent photovoltaic panels, the side guide wheels are blocked by the misaligned photovoltaic array panels and climb toward the misaligned position, that is, the swing frame connected to the side guide wheels will tilt, thereby effectively ensuring the smoothness and stability of the frame movement.

[0014] At the same time, during the cleaning process of the cleaning robot, the rotating component can rotate up and down relative to the frame, and the swing frame can tilt and swing on the plane relative to the rotating component. The cleaning piece is rotatably connected to the rotating component. It can be understood that when the rotating component rotates relative to the frame, it will drive the cleaning piece to swing. Therefore, when the cleaning robot passes over a protrusion or a concave surface, the rotating component rotates so that the walking mechanism keeps in contact with the surface of the photovoltaic array panel, and the cleaning piece swings to adjust the distance between the cleaning piece and the surface of the photovoltaic array panel, so that the cleaning piece keeps good contact with the surface of the photovoltaic array panel, and avoids the cleaning piece hitting the surface of the photovoltaic array panel to cause movement jamming, so as to pass over the protrusion or concave surface, and has higher flexibility during the cleaning process. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] In order to more clearly illustrate the technical solutions in the present invention or the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0016] Figure 1 It is a schematic diagram of the overall structure of the cleaning robot provided by an embodiment of the present invention.

[0017] Figure 2 It is a structural schematic diagram of the cleaning robot and the photovoltaic array panel provided by an embodiment of the present invention.

[0018] Figure 3 yes Figure 2 Schematic diagram of the local enlarged structure at point A in the middle.

[0019] Figure 4 It is a schematic diagram of the exploded structure of the cooperation between the swing frame and the frame in the cleaning robot provided by an embodiment of the present invention.

[0020] Figure 5 It is a schematic diagram of the motion state structure of the cleaning robot provided by an embodiment of the present invention.

[0021] Figure 6 It is a schematic diagram of another motion state structure of the cleaning robot provided by an embodiment of the present invention.

[0022] Figure 7 This is another schematic diagram of the motion state structure of the cleaning robot provided by an embodiment of the present invention.

[0023] Figure 8 It is another structural schematic diagram of the cleaning robot provided in an embodiment of the present invention.

[0024] Fig. 9 yes Figure 8 Schematic diagram of the local enlarged structure at point B in the middle.

[0025] Fig.10 yes Figure 8 A partial enlarged cross-sectional view of point B in the middle.

[0026] Fig.11 yes Figure 4 Schematic diagram of the local enlarged structure at point C in the middle.

[0027] Fig.12 yes Figure 2 A schematic diagram of a local enlarged structure at D in the middle.

[0028] Fig.13 It is a schematic diagram of the exploded structure of the adjustment frame and the frame in the cleaning robot provided by an embodiment of the present invention.

[0029] Fig.14 yes Figure 2 Another schematic diagram of the local enlarged structure at D in the middle.

[0030] Fig.15 yes Fig.14 Schematic diagram of the local enlarged structure at point E in the middle.

[0031] Fig.16 It is a three-dimensional diagram of the cleaning robot provided by an embodiment of the present invention.

[0032] Fig.17 yes Fig.16 A partial enlarged view of point F in the middle.

[0033] Fig.18 It is an exploded view of the local structure of the cleaning robot provided by an embodiment of the present invention.

[0034] Fig.19 It is a cross-sectional view of the cleaning robot provided by an embodiment of the present invention.

[0035] Fig. 20 yes Fig.19 A partial enlarged view of point G in the middle.

[0036] Fig.21 It is a schematic diagram of the side structure of the cleaning robot provided by an embodiment of the present invention.

[0037] Fig. 22 This is one of the structural schematic diagrams of the swinging of the cleaning robot provided by an embodiment of the present invention.

[0038] Fig.23 This is the second structural schematic diagram of the swinging of the cleaning robot provided by the embodiment of the present invention.

[0039] Reference numerals: 10. Cleaning robot; 110, frame; 1101, main beam; 1102, structural plate; 1103, avoidance gap; 1104, spindle assembly; 1105, connecting piece; 1106, rotating sleeve; 1107, fixing bolt; 1108, auxiliary wheel; 111, first end; 112, second end; 113, mounting frame; 114, rotating shaft; 115, cleaning member; 1151, roller; 1152, central shaft; 1153, intermediate sleeve; 116, walking mechanism; 1161, walking wheel; 1162, walking motor; 117, connecting seat; 120, adjustment frame; 122, first connecting arm; 123, second connecting arm; 130, locking mechanism; 131, first through hole; 132, second through hole; 140, swing frame; 141, side guide wheel; 142, swing shaft; 143, rotating shaft hole; 150, swing angle detection mechanism; 160, transmission mechanism; 161, first gear; 162, second gear; 170, limit guide mechanism; 171, arc groove; 172, guide rod; 180, position detection sensor; 190, rotating assembly; 191, driving housing; 192, connecting plate; 193, connecting part; 194, handle; 195, gasket; 20. Photovoltaic array panel; 201. Photovoltaic panel; 300. Electrical box. DETAILED DESCRIPTION

[0040] In order to make the purpose, technical solution and advantages of the present invention clearer, the technical solution of the present invention will be clearly and completely described below in conjunction with the drawings of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0041] Combine the following Figure 1-Figure 23 The cleaning robot 10 of the present invention is described.

[0042] Reference Figure 1 As shown, an embodiment of the present invention provides a cleaning robot 10 , including a frame 110 , a swing frame 140 , a rotating assembly 190 , a plurality of walking mechanisms 116 and a cleaning member 115 .

[0043] Specifically, in this embodiment, the frame 110 is arranged along a light-receiving surface parallel to the photovoltaic array panel 20, the swing frame 140 is rotatably arranged on the frame 110, and a side guide wheel 141 is provided on the swing frame 140 along the width direction of the frame 110, the side guide wheel 141 is rotatably connected to the swing frame 140, and the peripheral wall of the side guide wheel 141 is suitable for fitting to the side edge of the photovoltaic array panel 20, the rotating assembly 190 is rotatably connected to the frame 110, and the rotation axis of the rotating assembly 190 is aligned with the frame 110. The swing frame 140 is parallel to the length direction, the swing frame 140 is connected to the rotating assembly 190, the walking mechanism 116 is suitable for moving along the light-receiving surface and / or the frame of the photovoltaic array panel 20, and the cleaning member 115 is used to clean the photovoltaic array panel 20. The cleaning member 115 is arranged on the side of the frame 110 facing the photovoltaic array panel 20. At least one end of the cleaning member 115 is connected to the rotating assembly 190. The cleaning member 115 can rotate relative to the frame 110 with the rotating assembly 190, and the cleaning member 115 maintains contact with the surface of the photovoltaic array panel 20.

[0044] It should be noted that the swing frame 140 and the frame 110 have a first rotating shaft, the side guide wheel 141 and the swing frame 140 have a second rotating shaft, and the extension direction of the first rotating shaft and the second rotating shaft are consistent; wherein, a group of walking mechanisms 116 are respectively arranged at both ends of the frame 110, and the rotating assembly 190 is suitable for driving the swing frame 140 and the walking mechanism 116 to rotate relative to the frame 110.

[0045] The cleaning robot 10 provided by the present invention is provided with a swing frame 140 and a side guide wheel 141 arranged on the swing frame 140. The side guide wheel 141 is rotatably connected to the swing frame 140. When the cleaning robot 10 moves along the arrangement direction of the photovoltaic array panel 20, the side guide wheel 141 moves on the upper edge of the photovoltaic array panel 20. When the side guide wheel 141 moves to the misaligned position of two adjacent photovoltaic panels 201, the side guide wheel 141 is blocked by the misaligned photovoltaic array panels 20 and climbs to the misaligned position, that is, the swing frame 140 connected to the side guide wheel 141 will tilt, thereby effectively ensuring the smoothness and stability of the movement of the frame 110.

[0046] At the same time, during the cleaning process of the cleaning robot 10, the rotating component 190 can rotate up and down relative to the frame 110, and the swing frame 140 can tilt and swing on the plane relative to the rotating component 190, and the cleaning piece 115 is rotatably connected to the rotating component 190. It can be understood that when the rotating component 190 rotates relative to the frame 110, it will drive the cleaning piece 115 to swing, so that when the cleaning robot 10 passes over a protrusion or a concave surface, the rotating component 190 rotates so that the walking mechanism 116 keeps in contact with the surface of the photovoltaic array panel 20, and the cleaning piece 115 swings to adjust the distance between the surface of the photovoltaic array panel 20, so that the cleaning piece 115 keeps good contact with the surface of the photovoltaic array panel 20, and avoids the cleaning piece 115 hitting the surface of the photovoltaic array panel 20 to cause movement jamming, so as to pass over the protrusion or concave surface, and has higher flexibility during the cleaning process.

[0047] It should be noted that the rack 110 is arranged along a light-receiving surface parallel to the photovoltaic array panel 20 so as to clean the light-receiving surface of the photovoltaic array panel 20. In the embodiment of the present invention, the rack 110 can be made of alloy materials such as aluminum alloy and stainless steel. Of course, in some possible examples, the rack 110 can also be made of UV-resistant hard plastic. In the specific setting, the photovoltaic array panel 20 is usually a plurality of photovoltaic panels 201 arranged in an array. For example, in some examples, as shown in the figure, the photovoltaic array panel 20 can be tilted at a certain angle relative to the horizontal plane (ground) (wherein, Figure 2 The direction indicated by the dotted line may be the extension direction of the ground or horizontal plane); when in use, the rack 110 may be hung on the light-receiving surface of the photovoltaic array panel 20 (also commonly referred to as the upper surface of the photovoltaic array panel 20) along the upper and lower ends of the photovoltaic array panel 20.

[0048] It is understandable that in the embodiment of the present invention, a cleaning member 115 may be provided on the side of the frame 110 facing the photovoltaic array panel 20. In some specific examples, the cleaning member 115 may be a cleaning roller, a cleaning wheel, or a cleaning spray gun. In addition, it is also understandable that a walking mechanism 116 may be provided on the side of the frame 110 facing the photovoltaic array panel 20. The walking mechanism 116 may specifically be a walking wheel 1161, and driving members, such as a driving motor, are provided at both ends of the frame 110. The driving member is connected to the walking mechanism 116 in a transmission manner, so as to drive the walking mechanism 116 to move along the arrangement direction of the photovoltaic array panel 20 (for example, refer to Figure 2 The cleaning member 115 cleans the entire photovoltaic array panel 20, ensuring that the light-receiving surface of the photovoltaic array panel 20 remains clean, thereby improving the power generation efficiency of the photovoltaic array panel 20. The walking mechanism 116 can move along the light-receiving surface of the photovoltaic array panel 20; or, the walking mechanism 116 can move along the frame of the photovoltaic array panel 20 to increase the walking friction.

[0049] In the embodiment of the present invention, it should be noted that the rack 110 has a first end 111 and a second end 112, and is arranged along the tilt direction of the photovoltaic array panel 20 (for example, Figure 2 The photovoltaic panels 201 may also be arranged in multiple directions (in the direction shown by the x-axis in the middle), and two photovoltaic array panels 20 are shown as specific examples in the embodiment of the present invention. In a specific application, the rack 110 may be arranged along the tilt direction of the photovoltaic array panel 20. For example, as shown in the figure, the first end 111 of the rack 110 is hung on the top edge of the photovoltaic array panel 20; the second end 112 of the rack 110 extends to the outside of the bottom edge of the photovoltaic array panel 20.

[0050] It can be understood that the first end 111 (eg Figure 2 A side guide wheel 141 may be provided at one end along the positive direction of the x-axis, and the side guide wheel 141 is in contact with the top edge of the photovoltaic array panel 20.

[0051] In addition, in the embodiment of the present invention, the cleaning member 115 can also be arranged along the tilt direction of the photovoltaic array panel 20, that is, referring to Figure 2 As shown, the cleaning member 115 is arranged on the frame 110 along the length direction of the frame 110. A set of walking mechanisms 116 are respectively arranged at both ends of the frame 110. In the embodiment of the present invention, the walking mechanism 116 can be connected to both ends of the frame 110, and the walking mechanism 116 can be driven by two driving motors arranged at both ends of the frame 110.

[0052] In some optional examples of the embodiments of the present invention, refer to Figure 2As shown, a group of walking mechanisms 116 may also be provided in the middle of the frame 110 along the length direction. In a specific configuration, the group of walking mechanisms 116 provided in the middle of the length direction may be used as passive support wheels 1161 to travel under the drive of the upper and lower walking mechanisms 116. Of course, it is understandable that, in some examples, the group of walking mechanisms 116 provided in the middle may also be provided with a separate drive motor for driving.

[0053] In some other optional examples of the embodiments of the present invention, refer to Figure 2 As shown, both ends of the cleaning member 115 can extend along the length direction of the frame 110, and the peripheral wall of the cleaning member 115 contacts the peripheral wall of the walking mechanism 116 (for example, the walking wheel 1161); in this way, during the process of the cleaning robot 10 cleaning the photovoltaic array panel 20, the cleaning member 115 can also clean the walking mechanism 116, thereby preventing the dust on the walking mechanism 116 from contaminating the photovoltaic array panel 20 again, thereby improving the comprehensiveness of the cleaning of the photovoltaic array panel 20.

[0054] In the embodiment of the present invention, refer to Figure 2-Figure 4 As shown, the swing frame 140 is arranged at either end of the frame 110, and the first end 111 of the frame 110 is provided with the swing frame 140 or the second end 112 is provided with the swing frame 140; or, the first end 111 and the second end 112 of the frame 110 can both be provided with the swing frame 140. When cleaning, the swing frame 140 is suitable for being located at one side of the top of the photovoltaic array panel 20. Among them, the swing frame 140 is provided with a side guide wheel 141, the side guide wheel 141 is rotatably connected to the swing frame 140, and the side guide wheel 141 is attached to the top side edge of the photovoltaic array panel 20. In the embodiment of the present invention, the swing frame 140 is rotatably connected to the frame 110. The side guide wheel 141 can be set to follow, or an independent power source can be set to improve the independence of the movement of the side guide wheel 141; or, the side guide wheel 141 can also share a power source with the walking mechanism 116 through a transmission device.

[0055] It is understandable that, in the embodiment of the present invention, the swing frame 140 can be made of the same or similar material as the frame 110. In a specific configuration, the peripheral wall of the side guide wheel 141 is in contact with the upper edge of the photovoltaic array panel 20.

[0056] It can be understood that, in the embodiment of the present invention, the swing frame 140 and the frame 110 have a first rotating shaft, the side guide wheel 141 and the swing frame 140 have a second rotating shaft, and the extension direction of the first rotating shaft is consistent with that of the second rotating shaft.

[0057] When setting up specific settings, refer to Figure 4As shown, in the embodiment of the present invention, the swing frame 140 is rotatably connected to the frame 110 via the swing shaft 142. It should be noted that, in a specific configuration, a rotation shaft 114 hole may be provided on at least one of the swing frame 140 and the frame 110, and the swing shaft 142 passes through the rotation shaft 114 hole to connect the swing frame 140 to the frame 110.

[0058] As a specific example of an embodiment of the present invention, a rotating shaft 114 hole can be set on the swing frame 140, and a swing shaft 142 can be set on the frame 110. The swing shaft 142 is inserted into the rotating shaft 114 hole, thereby ensuring that the swing frame 140 and the frame 110 are rotatably connected.

[0059] It is understandable that in some other optional examples of the embodiments of the present invention, a rotating shaft 114 hole may be provided on the frame 110 , and a swing shaft 142 may be provided on the swing frame 140 , and the swing shaft 142 may pass through the rotating shaft 114 hole.

[0060] It can also be understood that in some other optional examples of the embodiments of the present invention, referring to Figure 4 As shown, the swing frame 140 and the frame 110 may be both provided with a rotating shaft 114 hole, and the swing shaft 142 passes through the rotating shaft 114 holes on the swing frame 140 and the frame 110 in sequence, thereby ensuring that the swing frame 140 is rotatably connected to the frame 110.

[0061] It should be noted that, in the embodiment of the present invention, the axial direction of the swing shaft 142 can be parallel to or consistent with the axial direction of the side guide wheel 141. It can be understood that after the cleaning robot 10 is hung on the photovoltaic array panel 20, the first interface determined by the length and width direction of the frame 110 is parallel or approximately parallel to the light-receiving surface of the photovoltaic array panel 20. Therefore, it can also be understood that the axial direction of the swing shaft 142 is perpendicular to the light-receiving surface of the photovoltaic array panel 20, or the axial direction of the swing shaft 142 is approximately perpendicular to the light-receiving surface of the photovoltaic array panel 20.

[0062] It can also be understood that in some other examples of the present invention, the axial direction of the swing shaft 142 and the axial direction of the side guide wheel 141 can also be inclined relative to the light-receiving surface of the photovoltaic array panel 20, for example, referring to Figure 2 As shown, the axial direction of the swing axis 142 can have a certain inclination angle in the positive and negative directions of the y direction relative to the light receiving surface of the photovoltaic array panel 20; in some examples, refer to Figure 2 As shown, the axial direction of the swing shaft 142 can have a certain inclination angle in the positive and negative directions of the x-direction relative to the light-receiving surface of the photovoltaic array panel 20; in the embodiment of the present invention, it is only necessary to ensure that the rack 110 and the swing rack 140 can swing normally to adjust the inclination angle of the rack 110 relative to the photovoltaic array panel 20.

[0063] See also Fig.16 and Fig.17 As shown, the rotating assembly 190 is rotatably connected to the frame 110. For example, the rotating assembly 190 and the frame 110 may be connected via a pivot shaft. The rotating axis of the rotating assembly 190 is parallel to the length direction of the frame 110. Fig.16 As shown, the rotating assembly 190 is disposed at the first end 111 of the frame 110 , and the rotating assembly 190 is perpendicular to the frame 110 , and the rotating axis of the rotating assembly 190 is parallel to the frame 110 .

[0064] The swing frame 140 is connected to the rotating assembly 190. At least one of the plurality of traveling mechanisms 116 is disposed at the first end 111 and is connected to the rotating assembly 190; at least one of the plurality of traveling mechanisms 116 is disposed at the second end 112. At the first end 111, the rotating assembly 190 is adapted to drive the swing frame 140 and the traveling mechanism 116 to rotate relative to the frame 110.

[0065] The walking mechanism 116 is disposed on the side of the frame 110 facing the photovoltaic array panel 20, and the walking mechanism 116 is suitable for walking along the light-receiving surface of the photovoltaic array panel 20 to drive the cleaning robot 10 to walk on the photovoltaic array panel 20. The walking mechanism 116 is connected to the rotating assembly 190, and when the rotating assembly 190 rotates relative to the frame 110, the walking mechanism 116 follows the rotating assembly 190 to rotate relative to the frame 110. In this way, when the cleaning robot 10 encounters a convex or concave surface during movement, for example, when a step is formed on the panel surface of the photovoltaic array panel 20 due to installation error between two adjacent photovoltaic panels 201, the walking mechanism 116 can be adaptively rotated relative to the frame 110, so that the walking mechanism 116 keeps in contact with the walking surface, so as to provide sufficient driving force to drive the cleaning robot 10 to move smoothly and avoid slipping or jamming.

[0066] The swing frame 140 is connected to the rotating assembly 190, and the swing frame 140 can rotate relative to the frame 110 following the rotating assembly 190 to adapt to the height difference between the photovoltaic panels 201. The first rotating shaft of the swing frame 140 and the frame 110 is parallel to the second rotating shaft of the side guide wheel 141, and the first rotating shaft and the second rotating shaft are not parallel to the light-receiving surface of the photovoltaic array panel 20, so that the swing frame 140 can climb over the misaligned parts of adjacent photovoltaic panels 201. Therefore, the cleaning robot 10 can be fine-tuned in multiple directions during walking to adapt to the ups and downs of the photovoltaic array panel 20 in the height direction and the direction perpendicular to the arrangement of the photovoltaic panels 201, thereby improving the movement stability and applicability of the cleaning robot 10.

[0067] like Fig.21As shown, when the cleaning robot 10 moves to the right on a flat surface and encounters a protrusion, the walking assembly moves along the surface of the protrusion, and the rotating assembly 190 rotates relative to the frame 110 to keep the position of the frame 110 stable and prevent the cleaning robot 10 from tipping over; the rotating assembly 190 drives the swing frame 140 to rotate in the direction of arrow a at the position indicated by the dotted line, so that the side guide wheel 141 contacts the side of the protrusion to provide sufficient driving force.

[0068] It is understandable that when the cleaning robot 10 performs cleaning work on the photovoltaic array panel 20, the side guide wheel 141 on the swing frame 140 moves along the side of the photovoltaic array panel 20, and the walking mechanism 116 moves along the light-receiving surface of the photovoltaic array panel 20. The side guide wheel 141 and the walking mechanism 116 jointly provide a driving force to drive the cleaning robot 10 to move. The walking mechanism 116 is located on one side of the rotating assembly 190, and the swing frame 140 is located on the other side of the rotating assembly 190. The swing frame 140 is spaced apart from the walking assembly to avoid interference between the two during movement.

[0069] Combine the following Figure 5-Figure 7 , the working process of the cleaning robot 10 provided by the embodiment of the present invention is described in detail: Specifically, refer to Figure 5 As shown, the cleaning robot 10 can specifically Figure 5 The side guide wheel 141 moves on the photovoltaic array panel 20 in the direction indicated by the arrow x, thereby cleaning the photovoltaic array panel 20; it can be understood that due to the installation accuracy, there may be a certain installation error between two adjacent photovoltaic array panels 20, that is, there is a certain misalignment between the side walls of the two adjacent photovoltaic array panels 20; when the side guide wheel 141 moves to the misaligned position, the side guide wheel 141 is blocked by the misaligned photovoltaic array panel 20 and climbs to the misaligned position (for example, refer to Figure 6 As shown), that is, the swing frame 140 connected to the side guide wheel 141 will tilt (for example, refer to Figure 7 As shown), in the embodiment of the present invention, the frame 110 is rotatably connected to the swing frame 140, and when passing through the misaligned position, refer to Figure 7 As shown, the swing frame 140 tilts, but the frame 110 rotates with the swing frame 140, that is, the frame 110 does not rotate with the swing frame 140, or the angle of rotation of the frame 110 with the swing frame 140 is small, thereby effectively ensuring the smoothness and stability of the movement of the frame 110.

[0070] The cleaning robot 10 provided by the present invention is characterized in that a swing frame 140 is rotatably provided at the first end 111 of the frame 110, and a side guide wheel 141 is provided on the swing frame 140 along the width direction of the frame 110, the side guide wheel 141 is rotatably connected to the swing frame 140, and the peripheral wall of the side guide wheel 141 is in contact with the upper side edge of the photovoltaic array panel 20; wherein, the first rotating axis of the swing frame 140 and the frame 110 is parallel to the second rotating axis of the side guide wheel 141, and the first rotating axis and the second rotating axis are not parallel to the light-receiving surface of the photovoltaic array panel 20; in this way, when the cleaning robot 10 moves along the arrangement direction of the photovoltaic array panel 20, the side guide wheel 141 is on the photovoltaic array surface The side guide wheel 141 moves along the upper edge of the panel 20. When the side guide wheel 141 moves to the misaligned position of two adjacent photovoltaic panels 201, the side guide wheel 141 is blocked by the misaligned photovoltaic array panel 20 and climbs to the misaligned position, that is, the swing frame 140 connected to the side guide wheel 141 will tilt. In an embodiment of the present invention, the frame 110 is rotatably connected to the swing frame 140. When passing through the misaligned position, the swing frame 140 tilts, but the frame 110 rotates with the swing frame 140, that is, the frame 110 does not rotate with the swing frame 140, or the angle at which the frame 110 rotates with the swing frame 140 is small, thereby effectively ensuring the smoothness and stability of the movement of the frame 110.

[0071] In addition, the tilting and swinging amplitude of the rack 110 is small, which can effectively avoid the generation of excessively tight clamping force between the two ends of the rack 110 and the side walls of the photovoltaic array panel 20, that is, it can avoid the rack 110 from being stuck on the photovoltaic array panel 20, which is beneficial to maintaining the stability of the photovoltaic array panel 20 cleaning robot's walking and operation, and is also beneficial to protecting the photovoltaic array panel 20.

[0072] In some optional examples of the embodiments of the present invention, refer to Figure 8-Figure 10 As shown, the cleaning robot 10 also includes a swing angle detection mechanism 150 and a controller, which is not shown in the figure. The swing angle detection mechanism 150 is arranged between the swing frame 140 and the frame 110, and the swing angle detection mechanism 150 is used to detect the rotation angle between the swing frame 140 and the frame 110. The controller is connected to the swing angle detection mechanism 150 for communication, and the controller is connected to the walking mechanism 116 to control the movement of the walking mechanism 116.

[0073] A swing angle detection mechanism 150 is provided on one of the swing frame 140 and the frame 110 . The detection head of the swing angle detection mechanism 150 is connected to the other of the swing frame 140 and the frame 110 . The swing angle detection mechanism 150 is used to detect the rotation angle between the swing frame 140 and the frame 110 .

[0074] In a specific configuration, the swing angle detection mechanism 150 may be disposed on the frame 110, or, in some examples, the swing angle detection mechanism 150 may also be disposed on the swing seat. Figure 8 As shown, the swing angle detection mechanism 150 can be set on the connecting seat 117.

[0075] The motion control method of the cleaning robot 10 according to the embodiment of the present invention is applied to the cleaning robot 10. It should be noted that the walking mechanism 116 provided at the first end 111 is the first walking mechanism 116, and the walking mechanism 116 provided at the second end 112 is the second walking mechanism 116. The motion control method of the cleaning robot 10 includes: making the side guide wheel 141 fit the side edge of the photovoltaic array panel 20; obtaining the angle value between the swing frame 140 and the frame 110, and comparing the angle value with the preset angle; adjusting the speed of the first walking mechanism 116 and the second walking mechanism 116 based on the comparison result, so that the length direction of the cleaning robot 10 is perpendicular to the side edge of the photovoltaic array panel 20. In the above-mentioned motion control method of the cleaning robot 10, the angle value between the swing frame 140 and the frame 110 can be obtained by the swing angle detection mechanism 150, and the angle value can be compared with the preset angle; and the speed of the first walking mechanism 116 and the second walking mechanism 116 can be adjusted by the controller.

[0076] It can be understood that when the frame 110 is perpendicular to the swing frame 140, it is the best state for the cleaning robot 10 to walk. The position of the swing frame 140 when the frame 110 is perpendicular to the swing frame 140 can be taken as the origin, and the angle value can be the angle through which the swing frame 140 swings from the origin position. Due to the different swinging directions of the swing frame 140, for the convenience of description, in the walking direction of the cleaning robot 10, when the first end 111 is located in front of the second end 112, the angle value is positive; when the second end 112 is located in front of the first end 111, the angle value is negative; when the first end 111 and the second end 112 are parallel, the frame 110 is perpendicular to the swing frame 140, and the angle value is 0.

[0077] The preset angle is the maximum angle at which the swing frame 140 is allowed to swing from the origin position. The preset angle includes positive and negative values. A represents the positive value of the preset angle, and A' represents the negative value of the preset angle. The preset angle limits the allowable swing angle range of the swing frame 140. The speed of the first walking mechanism 116 is V1, and the speed of the second walking mechanism 116 is V2. When the angle value is greater than A, the first end 111111 is located in front of the second end 112. At this time, V2 needs to be increased, or V1 needs to be reduced, so that the second end 112112 catches up with the first end 111 to avoid the cleaning robot 10 from getting stuck; when the angle value is less than A', the first end 111 is located behind the second end 112. At this time, V1 needs to be increased, or V2 needs to be reduced, so that the first end 111 catches up with the second end 112 to avoid the cleaning robot 10 from getting stuck. When the angle value is greater than A' and less than A, V1 and V2 can be adjusted or not adjusted.

[0078] In an embodiment of the present invention, a swing angle detection mechanism 150 is provided on one of the frame 110 and the swing frame 140, and the swing angle of the frame 110 relative to the swing frame 140 is detected by the swing angle detection mechanism 150, so that the walking speed difference of the walking mechanism 116 at the second end 112 of the cleaning robot 10 can be determined, and it can be avoided that the swing angle of the frame 110 is too large due to the walking speed difference of the walking mechanism 116 at the second end 112 of the cleaning robot 10. When the swing angle of the frame 110 is too large, the walking speed of the walking mechanism 116 at the first end 111 and the walking mechanism 116 at the second end 112 can be adjusted in time by the controller of the cleaning robot 10 (for example, accelerate, decelerate or stop), so that the swing angle of the frame 110 relative to the swing frame 140 is restored to the swing angle range limited by the preset rotation angle (for example, the length direction of the frame 110 is ensured to be perpendicular or approximately perpendicular to the moving direction of the cleaning robot 10 on the photovoltaic array panel 20 as much as possible).

[0079] In some optional examples of the embodiment of the present invention, the preset rotation angle may be ±5°, ±10°, etc. It should be noted that in the embodiment of the present invention, the preset rotation angle is only shown as some specific examples, and in some possible examples, it may also be other angle ranges.

[0080] In this way, when side guide wheels 141 are provided at both ends of the cleaning robot 10 (one of them is 141 and the other is 121 in the figure), for the sake of easy distinction, the side guide wheel provided at the second end 112 is marked with the label "121", which can effectively avoid the side guide wheel 141 at the first end 111 of the cleaning robot 10 and the side guide wheel 121 at the second end 112 being locked or stuck with the side edge of the photovoltaic array panel 20 due to the excessive swing angle of the frame 110, thereby ensuring the smoothness and fluentness of the cleaning robot 10 in cleaning the photovoltaic array panel 20, and effectively protecting the photovoltaic array panel 20 and the cleaning robot 10.

[0081] In some embodiments, the side guide wheel 121 or the side guide wheel 141 may be provided with a driving device, or both the side guide wheel 121 and the side guide wheel 141 may be provided with a driving device to drive the side guide wheel 121 or the side guide wheel 141 to move along the edge of the photovoltaic array panel 20, so as to increase the driving force and improve the walking smoothness of the cleaning robot 10. When the walking mechanism 116 slips, the side guide wheel 121 or the side guide wheel 141 may continue to provide driving force to drive the cleaning robot 10 to move.

[0082] In some optional examples of the embodiments of the present invention, continue to refer to Figure 3 and Figure 4 As shown, the first end 111 of the frame 110 is provided with a connection seat 117, and the swing frame 140 is rotatably connected to the connection seat 117. In a specific configuration, the connection seat 117 can be detachably connected to the first end 111 of the frame 110. For example, it is detachably connected to the frame 110 by bolts, screws or screws.

[0083] In the embodiment of the present invention, by providing a connection seat 117 at the top of the frame 110, the swing frame 140 is rotatably connected to the connection seat 117. In this way, the installation and connection of the swing frame 140 is facilitated, and the installation efficiency of the photovoltaic array panel 20 cleaning robot 10 is improved.

[0084] In some other optional examples of the embodiments of the present invention, refer to Fig. 9 and Fig.10 As shown, the cleaning robot 10 also includes a transmission mechanism 160 , at least a portion of the transmission mechanism 160 is disposed on the swing shaft 142 , and another portion of the transmission mechanism 160 is disposed on the swing angle detection mechanism 150 .

[0085] It is understood that in some optional examples of the embodiments of the present invention, the swing angle detection mechanism 150 can be specifically an encoder. The detection head of the swing angle detection mechanism 150 can be connected to the swing shaft 142 in the above-mentioned embodiment of the present invention, so as to facilitate the detection and determination of the angle rotated between the frame 110 and the swing frame 140.

[0086] In the embodiment of the present invention, the swing frame 140 is rotatably connected to the connecting seat 117. Referring to the detailed description in the foregoing embodiment of the present invention, the swing shaft 142 can be fixedly connected to one of the frame 110 and the swing frame 140. Therefore, the encoder can be set on the other of the frame 110 and the swing frame 140.

[0087] Specifically, when the swing shaft 142 is fixedly connected to the swing frame 140 , in the embodiment of the present invention, the encoder can be set on the frame 110 , specifically, the encoder can be fixedly connected to the connecting seat 117 ; and the encoder rotates relative to the swing shaft 142 .

[0088] Alternatively, in another optional example of the embodiment of the present invention, when the swing shaft 142 is fixedly connected to the frame 110 (for example, when the swing shaft 142 is fixedly connected to the connecting seat 117), the encoder can be fixedly arranged on the swing frame 140. It can be understood that in the embodiment of the present invention, as long as the encoder can rotate relative to the swing shaft 142, the detection end of the encoder can be triggered.

[0089] In the embodiment of the present invention, an encoder is provided on one of the frame 110 and the swing frame 140, and the encoder rotates relative to the swing shaft 142; thus, when the frame 110 swings / rotates relative to the swing frame 140, the encoder rotates relative to the swing shaft 142, thereby driving the detection end of the encoder to rotate to determine the rotation angle value. In this way, the accuracy of the swing angle detection of the frame 110 can be ensured, and the cleaning robot 10 can be effectively prevented from getting stuck or locked on the photovoltaic array panel 20, thereby ensuring the stability and reliability of the movement of the cleaning robot 10.

[0090] In some specific examples, refer to Fig. 9 and Fig.10 As shown, the transmission mechanism 160 may include at least two gears meshing with each other, one of which may be arranged on the swing shaft 142 and fixed to the swing shaft 142 in the circumferential direction; the other gear may be arranged on the detection head of the encoder and fixed to the detection head of the encoder in the circumferential direction; in this way, when the frame 110 or the swing frame 140 rotates (for example, rotates relative to the swing shaft 142), the detection head of the encoder rotates driven by the swing shaft 142 through the two meshing gears, so that the encoder generates a detection signal. The controller on the cleaning robot 10 determines the relative rotation angle between the swing frame 140 and the frame 110 based on the detection signal. It can be understood that in some examples, the controller may also be a controller on a remote terminal (for example, a remote tablet computer, mobile phone or other mobile terminal).

[0091] It should be noted that, in the embodiment of the present invention, the way in which the controller processes the detection signal generated by the encoder can be specifically determined by the gear ratio between the two gears. In addition, the way in which the rotation angle is determined by the detection signal of the encoder can refer to the detailed description in the relevant technology, which will not be repeated in the embodiment of the present invention.

[0092] It can also be understood that in some other optional examples of the embodiments of the present invention, the gears of the transmission mechanism 160 can also be transmitted through a belt, a chain, or the like.

[0093] As a specific example of an embodiment of the present invention, the transmission mechanism 160 includes a first gear 161 and a second gear 162, wherein the first gear 161 is arranged on the swing shaft 142, and the second gear 162 is arranged on the swing detection mechanism, i.e., the encoder. In the embodiment of the present invention, the number of teeth of the first gear 161 is greater than the number of teeth of the second gear 162.

[0094] In some specific examples of the embodiment of the present invention, the gear ratio (also referred to as the gear ratio in some examples) between the first gear 161 and the second gear 162 may be 2:1, 3:1, or 5:1, etc. It can be understood that in the embodiment of the present invention, the gear ratio between the first gear 161 and the second gear 162 is only shown as some specific examples. In some possible examples, the gear ratio between the first gear 161 and the second gear 162 may also be set according to other ratios.

[0095] In the embodiment of the present invention, a first gear 161 is provided on the swing shaft 142, and a second gear 162 is provided on the encoder; the number of teeth of the first gear 161 is set to be greater than the number of teeth of the second gear 162. In this way, when the frame 110 rotates relative to the swing frame 140, that is, the first gear 161 rotates relative to the second gear 162, the linear speeds of the first gear 161 and the second gear 162 are the same, but because the number of teeth of the first gear 161 is greater than the number of teeth of the second gear 162, when the second gear 162 rotates through the same arc, the angle rotated by the second gear 162 is greater than the angle of the first gear 161, that is, the angular velocity of the second gear 162 is greater than the angular velocity of the first gear 161, that is, the difference in the number of teeth of the first gear 161 and the second gear 162 can amplify the rotation angle of the swing shaft 142, and can effectively improve the detection sensitivity of the encoder.

[0096] Reference Figure 4 and Fig.11As shown, in some other optional examples of the embodiments of the present invention, the cleaning robot 10 may also be provided with a limited position guiding mechanism 170; for example, in a specific setting, an arc groove 171 may be provided on one of the frame 110 and the swing frame 140, and the axis of the arc groove 171 is collinear or approximately collinear with the axis of the swing shaft 142; then a guide rod 172 is provided on the other of the frame 110 and the swing frame 140, and the guide rod 172 is inserted into the arc groove 171 and slides along the extension direction of the arc groove 171. In this way, when the frame 110 rotates relative to the swing frame 140, the guide rod 172 slides along the extension direction of the notch of the arc groove 171, which can guide and limit the swing of the frame 110, thereby ensuring the stability of the swing of the frame 110 relative to the swing seat.

[0097] That is to say, in some optional examples of the embodiments of the present invention, the limiting guide mechanism 170 includes an arc groove 171 and a guide rod 172 .

[0098] In some optional examples of the embodiments of the present invention, refer to Figure 4 As shown, the arc groove 171 can be arranged on the swing frame 140; correspondingly, the guide rod 172 is arranged on the frame 110 (for example, arranged on the connecting seat 117).

[0099] It can be understood that in order to ensure the stability of the swing of the frame 110 relative to the swing frame 140, the swing axis 142 can usually be set in the middle of the swing frame 140 along the width direction of the cleaning robot 10; therefore, in an embodiment of the present invention, the arc groove 171 can be set on any side of the swing frame 140 along the width direction of the cleaning robot 10.

[0100] In addition, in some other optional examples of the embodiments of the present invention, the arc groove 171 may also be set on the frame 110, and correspondingly, the guide rod 172 is set on the swing frame 140.

[0101] It can also be understood that, in the embodiment of the present invention, the position limiting guide mechanism 170 can be provided in one group. In some examples, the position limiting guide mechanism 170 can also be provided in multiple groups; for example, referring to Figure 4 As shown ( Figure 4 In the embodiment of the present invention, two sets of limit guide mechanisms 170 are provided as a specific example. Figure 4 As shown, when two sets of limiting guide mechanisms 170 are provided, the arc grooves 171 of the two sets of limiting guide mechanisms 170 can be arranged at both ends of the swing frame 140 along the width direction of the cleaning robot 10 .

[0102] In the embodiment of the present invention, two sets of limiting guide mechanisms 170 are provided. Thus, the two sets of limiting guide mechanisms 170 can guide and limit the swing of the frame 110 from both sides of the frame 110, thereby ensuring the stability of the swing of the frame 110.

[0103] Reference Fig.11 As shown, in some optional examples of the embodiments of the present invention, the swing angle detection mechanism 150 may also be a position detection sensor 180 provided on one of the swing frame 140 and the frame 110 (or the connecting seat 117).

[0104] Specifically, the position detection sensor 180 can be set at the position of the maximum swing angle range (i.e., the preset rotation angle) allowed when the frame 110 swings relative to the swing frame 140. When the frame 110 swings relative to the swing frame 140 to the position detection sensor 180, the position detection sensor 180 detects the frame 110 and generates a signal. At this time, the controller of the cleaning robot 10 controls the rotation speed of the two drive motors to ensure that the swing angle of the frame 110 relative to the swing frame 140 is within the swing angle range limited by the preset rotation angle.

[0105] As some specific examples of the embodiments of the present invention, the position detection sensor 180 can be any one of a photoelectric sensor, a touch switch, a travel switch or a Hall sensor. Alternatively, in some examples, the position detection sensor 180 can also be a combination of multiple sensors among a photoelectric sensor, a touch switch, a travel switch or a Hall sensor.

[0106] In the embodiment of the present invention, the position and angle of the swing of the frame 110 relative to the swing frame 140 are confirmed by the position detection sensor 180, which simplifies the structure for confirming the swing angle and is conducive to the lightweight of the cleaning robot 10.

[0107] In some optional examples of the embodiments of the present invention, refer to Fig.11 As shown, the two ends of the arc-shaped slot 171 along the extending direction of the slot can be used as the two extreme positions of the swing of the frame 110 relative to the swing frame 140, that is, the maximum angle range of the swing of the frame 110 relative to the swing frame 140. Therefore, in the embodiment of the present invention, the position detection sensor 180 can be set at the two ends of the arc-shaped slot 171.

[0108] In addition, it can be understood that in some examples, when the position detection sensor 180 is a pressure-responsive sensor such as a touch switch or a travel switch, the position detection sensor 180 can also be set in the arc groove 171 and located at the end positions of both ends of the arc groove 171.

[0109] It is understandable that in the embodiment of the present invention, in order to ensure the cleaning robot 10 moves along the arrangement direction of the photovoltaic array panel 20 and the stability of cleaning the photovoltaic array panel 20, in the embodiment of the present invention, reference is made to Figure 2 As shown, the second end 112 (eg Figure 2 A side guide wheel 141 is provided at one end (shown along the negative direction of the x-axis) and the entire rack 110 is hung on the photovoltaic array panel 20 through the side guide wheel 141 and the side guide wheel 141.

[0110] In the embodiment of the present invention, it can also be understood that in order to improve the full utilization of sunlight, usually a large number of photovoltaic panels 201 need to be set up to form a photovoltaic array panel 20, that is, to increase the area of ​​the photovoltaic panels 201 irradiated by sunlight, so as to fully utilize the sunlight to generate electricity. However, in the production process of the photovoltaic panels 201, in order to facilitate the storage, transportation and installation of the photovoltaic panels 201, the photovoltaic panels 201 are usually produced in modular form with standard specifications and sizes, and then transported to the outdoors for array arrangement and assembly. In the process of arranging and installing the photovoltaic array panel 200, there may be a certain installation error between two adjacent photovoltaic panels 201, and there may be a certain misalignment between the edges of two adjacent photovoltaic panels 201.

[0111] Reference Figure 2 and Fig.12 As shown, in order to avoid the misalignment between the edges of two adjacent photovoltaic panels 201, which causes the side guide wheel 141 to be blocked and causes the cleaning robot 10 to be unable to walk normally, in the embodiment of the present invention, the second end 112 of the frame 110 is movably connected to the adjustment frame 120, and the side guide wheel 141 is arranged on the adjustment frame 120. The structure of the adjustment frame 120 may be the same as that of the swing frame 140, or it may be different.

[0112] When setting up specific settings, refer to Figure 2 and Fig.12 As shown, the axial direction of the side guide wheel 141 can be perpendicular to the light-receiving surface of the photovoltaic array panel 20, so that Figure 2 As a specific example, the axial direction of the side guide wheel 141 may be perpendicular to the xy plane, so that the peripheral wall of the side guide wheel 141 moves along the edge or side wall of the bottom end of the photovoltaic array panel 20. It can be understood that the side guide wheel 141 is rotatably connected to the adjustment frame 120.

[0113] In the embodiment of the present invention, the adjustment frame 120 is movably connected to the second end 112 of the rack 110. As some optional examples, the adjustment frame 120 may be movably connected to the rack 110 along the length direction of the rack 110, for example, a slide groove or a guide rail is provided at the second end 112 of the rack 110, and the adjustment frame 120 is provided on the slide groove or the guide rail, and moves toward the rack 110 along the direction of the slide groove or the guide rail, or in some examples, the adjustment frame 120 moves away from the rack 110 along the direction of the slide groove or the guide rail; thereby driving the side guide wheels 141 provided on the adjustment frame 120 to move toward the rack 110 or away from the rack 110.

[0114] It is understandable that, in the embodiment of the present invention, the adjustment frame 120 drives the side guide wheel 141 to move along the length direction of the frame 110, for example, referring to Figure 2 As shown, it can be along Figure 2 In some optional examples, the movement of the side guide wheels 141 driven by the adjustment frame 120 may also be an inclined movement relative to the length direction of the frame 110. It can be understood that as long as the movement of the side guide wheels 141 driven by the adjustment frame 120 has a movement component along the length direction of the frame 110, it will be sufficient.

[0115] In the embodiment of the present invention, the side guide wheel 141 is driven to move by the adjustment frame 120, so that the distance between the peripheral wall of the side guide wheel 141 and the bottom side wall of the photovoltaic array panel 20 can be adjusted, which is convenient for adapting to the photovoltaic array panels 20 with different installation errors, thereby improving the applicability of the cleaning robot 10.

[0116] Reference Fig.14 and Fig.15 As shown, in the embodiment of the present invention, the cleaning robot 10 also includes a locking mechanism 130, which is provided on at least one of the adjustment frame 120 and the rack 110. When the peripheral wall of the side guide wheel 141 is at a preset distance from the lower edge of the photovoltaic array panel 20, the locking mechanism 130 is connected to the other of the adjustment frame 120 and the rack 110 to lock the relative position of the adjustment frame 120 and the rack 110; along the arrangement direction of the photovoltaic array panel 20, the preset distance is greater than or equal to the maximum misalignment distance between two adjacent photovoltaic panels 201.

[0117] In some specific examples of the embodiments of the present invention, the locking mechanism 130 can be a spring clip. For example, when the adjustment frame 120 slides along the slide groove or the guide rail to adjust the distance between the side guide wheel 141 and the photovoltaic array panel 20, the spring clip can be set on the adjustment frame 120. In addition, a groove or a through hole can be set on the slide groove or the slide rail. When the side guide wheel 141 is adjusted to a preset distance from the lower edge of the photovoltaic array panel 20, the spring clip is embedded or inserted into the groove or the through hole under the action of elasticity, thereby locking the position of the adjustment frame 120 to ensure that the distance between the side guide wheel 141 and the lower edge of the photovoltaic array panel 20 remains unchanged.

[0118] It can be understood that in some other examples of the embodiments of the present invention, the locking mechanism 130 can also be a latch, and through holes are provided on the adjustment frame 120 and the slide slot. When the adjustment frame 120 adjusts the side guide wheel 141 to a preset position, the latch is inserted into the through holes on the adjustment frame 120 and the slide slot in turn, thereby locking the position of the adjustment frame 120.

[0119] The cleaning robot 10 provided by the present invention is movably connected to the adjustment frame 120 at the second end 112 of the frame 110, and the side guide wheel 141 is arranged on the adjustment frame 120. When the cleaning robot 10 is installed on the photovoltaic array panel 20 that needs to be cleaned, the position of the adjustment frame 120 can be adjusted, so that the distance between the peripheral wall of the side guide wheel 141 and the lower edge of the photovoltaic array panel 20 is adjusted to be greater than or equal to the maximum misalignment distance in the arrangement direction of the photovoltaic array panel 20, and then the adjustment frame 120 and the frame 110 are connected by the locking mechanism 130, so that the relative position of the adjustment frame 120 and the frame 110 is locked, so that the position of the side guide wheel 141 is locked; in this way, when the cleaning robot 10 is installed on the photovoltaic array panel 20 that needs to be cleaned, the position of the adjustment frame 120 can be adjusted. When moving along the arrangement direction of the photovoltaic array panels 20, the distance between the side guide wheel 141 and the lower edge of the photovoltaic array panel 20 is sufficient to cross the position where the misalignment distance between two adjacent photovoltaic array panels 20 is the largest. That is to say, through the movable connection between the adjustment frame 120 and the rack 110, and the relative position of the adjustment frame 120 and the rack 110 is locked by the locking mechanism 130, the gap between the side guide wheel 141 and the lower edge of the photovoltaic array panel 20 can be adaptively adjusted. Different gaps can be adjusted for cleaning photovoltaic array panels 20 with different misalignment sizes, thereby improving the adaptability of the photovoltaic array panel 20 robot to different photovoltaic array misalignments and improving the applicability of the cleaning robot 10.

[0120] In some optional examples of the embodiments of the present invention, refer to Fig.12 and Fig.13 As shown, the adjustment frame 120 is rotatably connected to the frame 110 .

[0121] Specifically, refer to Fig.12 and Fig.13As shown, in the embodiment of the present invention, a rotating shaft 114 may be provided on the frame 110, and an axial hole may be provided on the adjusting frame 120, and the rotating shaft 114 may be inserted into the axial hole, so that the adjusting frame 120 may rotate relative to the frame 110. It should be noted that, in the embodiment of the present invention, the rotation direction of the adjusting frame 120 and the frame 110 may be parallel to the light-receiving surface of the photovoltaic array panel 20. In other words, the axial direction of the rotating shaft is perpendicular to the light-receiving surface of the photovoltaic array panel 20, or, in some examples, it may also be understood that the axial direction of the rotating shaft is parallel to the axial direction of the side guide wheel 141.

[0122] It is understandable that in some other optional examples of the embodiments of the present invention, an axial hole may be provided on the frame 110, and a rotating shaft 114 may be correspondingly provided on the adjusting frame 120, and the rotating shaft 114 may be inserted into the axial hole, so that the adjusting frame 120 can rotate relative to the frame 110.

[0123] In the embodiment of the present invention, the adjustment mechanism may be a damping member disposed on the rotating shaft 1141, that is, in the embodiment of the present invention, the adjustment frame 120 may be specifically connected to the frame 110 in rotation by damping rotation. In this way, when the gap between the side guide wheel 141 and the photovoltaic array panel 20 is adjusted to a preset distance by the adjustment frame 120, since the adjustment frame 120 is connected to the frame 110 by damping, the position of the adjustment frame 120 can be effectively maintained, that is, the distance between the side guide wheel 141 and the lower edge of the photovoltaic array panel 20 can be maintained, which facilitates the adjustment of the side guide wheel 141, thereby improving the adaptability of the cleaning robot 10 to different photovoltaic array panels 20.

[0124] In some optional examples of the embodiments of the present invention, refer to Fig.12 and Fig.13 As shown, the locking mechanism 130 includes: a first through hole 131 and a locking member (not shown in the figure).

[0125] Specifically, in the embodiment of the present invention, the first through hole 131 can be provided on one of the adjustment frame 120 and the frame 110. Fig.12 and Fig.12 As shown, in the embodiment of the present invention, the first through hole 131 can be set on the frame 110. It can be understood that in the embodiment of the present invention, the first through hole 131 can also be set on the adjustment frame 120.

[0126] In the embodiment of the present invention, the locking member is disposed in the first through hole 131 , and the locking member is connected to the other of the adjustment frame 120 and the frame 110 .

[0127] Specifically, in the embodiment of the present invention, the locking member may be a screw, a bolt or a screw rod. The screw, the bolt or the screw rod may be threadedly connected with the first through hole 131, and in the process of screwing the screw, the bolt or the screw rod, the locking member gradually abuts against the adjustment frame 120 or the rack 110. For example, the first through hole 131 is provided on the rack 110 as a specific example, and in the process of screwing the locking member, the end of the locking member abuts against the adjustment frame 120, thereby locking the position of the adjustment frame 120 and the rack 110.

[0128] In an embodiment of the present invention, a first through hole 131 is provided on one of the adjustment frame 120 and the frame 110, and a locking member passes through the first through hole 131 and is connected to the other of the frame 110 and the adjustment frame 120, so that the adjustment frame 120 can be easily adjusted, thereby improving the adjustment efficiency of the gap between the opposite side guide wheel 141 and the photovoltaic array panel 20.

[0129] In an optional example of an embodiment of the present invention, continue to refer to Fig.12 and Fig.13 As shown, the first through hole 131 includes an arc-shaped through hole, and the arc-shaped through hole surrounds the outer circumference of the rotation axis 114 of the adjustment frame 120 and the frame 110 .

[0130] Specifically, refer to Fig.12 and Fig.13 As shown, the arcuate through hole can also be called an arcuate through slot. In a specific configuration, the arcuate through hole can surround the outer periphery of the rotation axis of the adjustment frame 120 and the frame 110, that is, the axis of the arcuate through hole is colinear or approximately colinear with the rotation axis of the adjustment frame 120 and the frame 110. In this way, the arcuate through hole provides a moving track for the movement of the locking member. When adjusting the adjustment frame 120, it is only necessary to loosen the locking member and move it along the extension direction of the arcuate through hole, so that the adjustment frame 120 can be adjusted easily.

[0131] In the embodiment of the present invention, by setting the first perforation 131 as an arc-shaped perforation, when adjusting the position of the adjustment frame 120, stepless adjustment can be performed along the entire arc-shaped trajectory of the first perforation 131, thereby ensuring the adjustment range of the distance between the opposite side guide wheel 141 and the edge of the photovoltaic array panel 20, thereby improving the applicability of the cleaning robot 10 to the photovoltaic array panel 20.

[0132] In some other optional examples of the embodiments of the present invention, refer to Fig.14 and Fig.15 As shown, the first through holes 131 include a plurality of first through holes 131 , which are arranged at intervals along an arc, and the plurality of first through holes 131 surround the outer circumference of the rotation axis 114 of the adjustment frame 120 and the frame 110 .

[0133] Specifically, refer to Fig.15 As shown, the plurality of first through holes 131 may be specifically provided on the frame 110. The plurality of first through holes 131 are provided around the outer circumference of the rotating shaft 114 of the adjusting frame 120 and the frame 110 along the same arc.

[0134] In the embodiment of the present invention, the first through hole 131 can also be set as a threaded hole, and the locking member can be a threaded shaft, such as a screw, a bolt or a screw. After the position of the adjustment frame 120 is adjusted, the screw, the bolt or the screw can be inserted into the first through hole 131 and the locking member can be tightened; the end of the locking member will be pressed against the surface of the adjustment frame 120, and the position of the adjustment frame 120 will be fixed by the friction force with the surface of the adjustment frame 120.

[0135] In some other optional examples of the embodiments of the present invention, the locking mechanism 130 further includes a second through hole 132 , the second through hole 132 is disposed on the other of the adjustment frame 120 and the frame 110 , and the locking member is further disposed in the second through hole 132 .

[0136] Specifically, in the embodiment of the present invention, the aperture of the second through-hole 132 can be the same, close or similar to that of the first through-hole 131. In the specific setting, the distance between the second through-hole 132 and the rotating shaft of the adjusting frame 120 and the frame 110 is consistent with that of the first through-hole 131. In this way, when it is necessary to lock the position of the adjusting frame 120, after the position of the adjusting frame 120 is adjusted, the locking member can pass through the first through-hole 131 and the second through-hole 132 in sequence, thereby locking the adjusting frame 120. It can be understood that in the embodiment of the present invention, the locking member can be a pin, and in addition, the radial size of the locking member can be consistent with the radial size of the first through-hole 131 or the second through-hole 132.

[0137] In the embodiment of the present invention, a first through hole 131 arranged in an arc shape is provided on one of the frame 110 and the adjustment frame 120, and a second through hole 132 is provided on the other of the frame 110 and the adjustment frame 120, and a locking member is sequentially penetrated through the first through hole 131 and the second through hole 132; in this way, a straight line is determined by using the first through hole 131 and the second through hole 132 to lock the position of the adjustment frame 120, and the first through hole 131 and the second through hole 132 are limited on a straight line by the locking member, which can prevent the adjustment member from shaking and improve the stability of locking the position of the adjustment member.

[0138] In some other optional examples of the embodiments of the present invention, the second through hole 132 is a threaded hole, and the locking member is threadedly connected to the second through hole 132 .

[0139] It can be understood that, in a specific configuration, the locking member can be a threaded pin, for example, the locking member can be a connection part 193 such as a screw, a bolt or a screw rod, and after the position of the adjustment frame 120 is adjusted, the position of the adjustment frame 120 can be locked by threading the locking member with the second through hole 132. That is, in the embodiment of the present invention, the locking member first passes through the first through hole 131, and then is inserted into the second through hole 132 and threadedly connected with the second through hole 132. In this way, the stability of the locking member locking the relative position of the adjustment frame 120 and the frame 110 can be effectively ensured.

[0140] In some other optional examples of the embodiments of the present invention, refer to Figure 12-14 As shown, a mounting frame 113 is disposed on the frame 110 , the mounting frame 113 is connected to the frame 110 , and the adjustment frame 120 is rotatably connected to the mounting frame 113 ; the locking mechanism 130 is disposed on one of the adjustment frame 120 and the mounting frame 113 .

[0141] Specifically, in the embodiment of the present invention, the mounting frame 113 can be detachably connected to the frame 110. In some specific examples, the mounting frame 113 can be fixedly connected to the frame 110 through a connecting member 1105 such as a bolt, a screw or a screw. Among them, the adjustment frame 120 can be specifically connected to the mounting frame 113. That is, in the embodiment of the present invention, the locking mechanism 130 can be set on one of the adjustment frame 120 and the mounting frame 113.

[0142] When setting up specific settings, refer to Fig.13 and Fig.14 As shown, in the embodiment of the present invention, the mounting frame 113 may specifically be an I-shaped steel, and the adjustment frame 120 may be inserted on the mounting frame 113 and rotatably connected to the mounting frame 113 .

[0143] In the embodiment of the present invention, the mounting frame 113 is provided on the frame 110, and the adjusting frame 120 is connected to the mounting frame 113. In this way, the installation of the adjusting frame 120 is facilitated, and the installation efficiency of the cleaning robot 10 is improved.

[0144] In some optional examples of the embodiments of the present invention, refer to Fig.13 As shown, the adjustment frame 120 includes a first connecting arm 122 and a second connecting arm 123 .

[0145] Specifically, in the embodiment of the present invention, the first connecting arm 122 is rotatably connected to the mounting frame 113, and the locking mechanism 130 is disposed on the first connecting arm 122. In addition, the second connecting arm 123 is connected to the first connecting arm 122. Specifically, the second connecting arm 123 can be connected to an end of the first connecting arm 122 that is away from the mounting frame 113, or the second connecting arm 123 is connected to an end of the first connecting arm 122 that is away from the rotating shaft. Among them, the second connecting arm 123 is inclined relative to the first connecting arm 122 toward the side of the photovoltaic array panel 20, and the side guide wheel 141 is rotatably disposed on the second connecting arm 123. It can be understood that, in the embodiment of the present invention, the first connecting arm 122 and the second connecting arm 123 can be formed by bending angle steel or I-shaped steel. As a specific example, refer to Fig.13 As shown, Fig.13 The direction shown by the x-axis is the extension direction of the first connecting arm 122. In an embodiment of the present invention, the extension direction of the first connecting arm 122 can be consistent with the width direction of the frame 110; or, it can also be understood that the extension direction of the first connecting arm 122 is consistent with the arrangement direction of the photovoltaic array panel 20.

[0146] Reference Fig.13 As shown, in the embodiment of the present invention, the extension direction of the second connecting arm 123 can be inclined toward the bottom edge of the photovoltaic array panel 20 based on the extension direction of the first connecting arm 122. In this way, when the opposite side guide wheel 141 is adjusted, the first connecting arm 122 only needs to rotate slightly relative to the frame 110 or the mounting frame 113, which can effectively reduce the angle that the adjustment frame 120 needs to rotate, thereby improving the adjustment efficiency.

[0147] In an optional example of an embodiment of the present invention, refer to Fig.12 and Fig.13 As shown, two adjusting frames 120 are provided. The two adjusting frames 120 are located on both sides of the frame 110 along the moving direction of the frame 110 , and each adjusting frame 120 is provided with a side guide wheel 141 .

[0148] It is understandable that, in the embodiment of the present invention, the two adjustment frames 120 can be specifically arranged on both sides of the frame 110 along the width direction of the frame 110. In this way, by adjusting the gap between the two side guide wheels 141 and the side wall of the bottom edge of the photovoltaic array panel 20, the consistency of the gap between the cleaning robot 10 and the first photovoltaic array panel 20 is ensured, which can effectively avoid the cleaning robot 10 from being deflected or tilted during movement, thereby improving the stability of the movement of the cleaning robot 10.

[0149] See also Fig.17 and Fig.18As shown, according to some embodiments of the present invention, the rotating assembly 190 includes a driving box 191 and a connecting plate 192. The driving box 191 is rotatably connected to the frame 110, and the driving box 191 and the frame 110 can be connected by a pivot shaft. The driving box 191 can be a plate or a box structure with an internal space. The walking mechanism 116 is connected to one side of the driving box 191, and at least the walking wheel 1161 of the walking mechanism 116 is connected to one side of the driving box 191. When the driving box 191 rotates relative to the frame 110, the walking wheel 1161 can be driven to move, so that when the cleaning robot 10 walks to a protrusion or a concave surface, the walking wheel 1161 can maintain contact with the panel surface of the photovoltaic array panel 20 to provide sufficient driving force, and the frame 110 can be pitched and swung for fine adjustment, so that the movement of the cleaning robot 10 remains stable. A plurality of walking wheels 1161 can be provided on the walking mechanism 116.

[0150] The connecting plate 192 is connected to the other side of the driving box 191, the swing frame 140 is connected to the connecting plate 192, the connecting seat 117 can be provided on the connecting plate 192, and the swing frame 140 is installed on the connecting seat 117. The connecting plate 192 provides a mounting position for the swing frame 140, which can avoid providing the mounting positions of the walking mechanism 116 and the swing frame 140 on one component at the same time, resulting in a complex structure and high production cost. The walking component and the swing frame 140 are connected by the driving box 191 to form a whole of the walking component of the cleaning robot, so that the walking component and the swing frame 140 can be adjusted synchronously when climbing over the protrusions or concave surfaces on the walking surface, so as to keep the cleaning robot 10 moving stably and smoothly. Fig.17 As shown, a handle 194 is provided on the connecting plate 192, and the handle 194 is used to carry the cleaning robot 10. In some embodiments, the handle 194 can also be provided on the frame 110, or the handle 194 can also be provided on the driving box 191.

[0151] See also Fig.18 As shown, according to some embodiments of the present invention, the frame 110 includes a main beam 1101, a structural plate 1102, and a spindle assembly 1104. There may be multiple main beams 1101, and the multiple main beams 1101 are arranged in parallel and constitute the main structure of the frame 110. The structural plate 1102 is arranged at the end of the main beam 1101, and the structural plate 1102 is not parallel to the main beam 1101. Fig.18 As shown, the structural plate 1102 may be provided with a hollow structure, and reinforcing ribs are provided between the hollow structures, which can reduce the weight of the structural plate 1102 while ensuring the structural strength of the structural plate 1102. The ends of a plurality of main beams 1101 are fixedly connected to the structural plate 1102 to form a frame structure, and the structural plate 1102 may be perpendicular to the main beams 1101, or form an angle with the main beams 1101.

[0152] The structural plate 1102 is connected to the rotating assembly 190, the spindle assembly 1104 is arranged through the rotating assembly 190 and the structural plate 1102, the spindle assembly 1104 is arranged parallel to the main beam 1101, and the driving box 191 is rotatable around the central axis of the spindle assembly 1104. Fig.18 As shown, the structural plate 1102 is vertically arranged with the main beam 1101 , one side of the driving box 191 is in contact with the structural plate 1102 , and the core shaft assembly 1104 is passed through the driving box 191 and the structural plate 1102 so that the driving box 191 can rotate relative to the structural plate 1102 .

[0153] In some embodiments, the cleaning robot 10 further includes a positioning pin, which is disposed between the structural plate 1102 and the drive housing 191. The positioning pin has a locked state and an unlocked state. When the positioning pin is in the locked state, the positioning pin locks the drive housing 191 to prevent the drive housing 191 from rotating relative to the structural plate 1102, so as to facilitate the transportation of the cleaning robot 10. When the cleaning robot 10 is walking, the positioning pin is in the unlocked state. The positioning pin can be a spring latch, which can be disposed on the structural plate 1102 or the drive housing 191 to avoid loss.

[0154] See also Fig.18 and Fig. 20 As shown, according to some embodiments of the present invention, the spindle assembly 1104 includes a connector 1105 and a rotating sleeve 1106. The connector 1105 is fixedly connected to the drive housing 191. The connector 1105 may be a cylinder. One end of the connector 1105 is inserted into the drive housing 191 from one side of the drive housing 191, and the connector 1105 is fixedly connected to the drive housing 191 from the other side of the drive housing 191 by a fixing bolt 1107. The rotating sleeve 1106 is sleeved on the connector 1105. The rotating sleeve 1106 and the connector 1105 may be threadedly connected, or the rotating sleeve 1106 and the connector 1105 may be interference fit.

[0155] like Fig. 20 As shown, the rotating sleeve 1106 is embedded in the structural plate 1102 and can rotate relative to the structural plate 1102. The structural plate 1102 is provided with a matching hole. One end of the rotating sleeve 1106 is inserted into the matching hole from one side of the structural plate 1102. The rotating sleeve 1106 and the matching hole are loosely matched, so that the rotating sleeve 1106 can rotate relative to the structural plate 1102. The connecting member 1105 is inserted into the rotating sleeve 1106 from the other end of the rotating sleeve 1106. On the other side of the structural plate 1102, the rotating sleeve 1106 and the connecting member 1105 are fixedly connected by fixing bolts 1107. Therefore, the rotating sleeve 1106, the connecting member 1105 and the driving box body 191 are connected into a whole, so that the driving box body 191 can rotate relative to the structural plate 1102. As shown in FIG. Fig. 20As shown, in some embodiments, the rotating sleeve 1106 is inserted into the structural plate 1102, and a boss is provided at one end of the rotating sleeve 1106, and the boss abuts against the edge of the matching hole, thereby axially positioning the rotating sleeve 1106. The rotating sleeve 1106 can be a wear-resistant and smooth structural member such as a nylon sleeve or a copper sleeve.

[0156] In some embodiments, a protective member is sandwiched between the drive housing 191 and the structural plate 1102, and the protective member separates the drive housing 191 and the structural plate 1102 to reduce friction between the drive housing 191 and the structural plate 1102. Fig.18 As shown, the protective part can be a gasket 195 made of rubber or metal. An annular protrusion is provided on the side of the drive box 191 facing the structural plate 1102. The annular protrusion is used to fix the gasket 195. The annular protrusion is arranged around the core shaft assembly 1104, and the gasket 195 is sleeved on the annular protrusion.

[0157] See also Fig.18 and Fig.21 As shown, according to some embodiments of the present invention, the driving housing 191 is located on one side of the structural plate 1102, the connecting plate 192 is located on the other side of the structural plate 1102, the connecting plate 192 is provided with a connecting portion 193, the structural plate 1102 is provided with an avoidance notch 1103, the connecting portion 193 is penetrated through the avoidance notch 1103 to connect with the driving housing 191, so as to ensure the stability of the connection between the connecting member 1105 and the driving housing 191. In some embodiments, the connecting plate 192 has two connecting portions 193 arranged at intervals, the middle part of the structural plate 1102 is connected to the driving housing 191, and the avoidance notch 1103 is provided on both sides of the connection between the structural plate 1102 and the driving housing 191, so that the structural plate 1102 is T-shaped. Each avoidance notch 1103 corresponds to each connecting portion 193 one by one, and there is a certain gap between the edge of the connecting portion 193 and the avoidance notch 1103 after assembly, so that the connecting plate 192 can rotate.

[0158] like Fig. 22 As shown, when the rotating assembly 190 rotates a certain angle in the direction of arrow a, the edge of the connecting portion 193 on the right side and the edge of the avoidance gap 1103 on the right side abut against each other to limit the rotation range of the rotating assembly 190; Fig.23 As shown, when the rotating assembly 190 rotates a certain angle in the direction of arrow b, the connecting portion 1931 on the left side abuts against the edge of the avoidance notch 1103 on the left side to limit the rotation range of the rotating assembly 190. Thus, the avoidance notch 1103 on the structural plate 1102 limits the rotating assembly 190 in the circumferential direction.

[0159] See also Fig.19As shown, according to some embodiments of the present invention, the cleaning member 115 is disposed on the side of the frame 110 facing the photovoltaic array panel 20. During operation, the outer peripheral surface of the cleaning member 115 maintains contact with the photovoltaic array panel 20 for cleaning. At least one end of the cleaning member 115 is connected to the rotating assembly 190. The cleaning member 115 can rotate relative to the frame 110 following the rotating assembly 190, so that when the cleaning robot 10 encounters a protrusion or a concave surface, the cleaning member 115 can maintain contact with the surface of the photovoltaic array panel 20 for cleaning. Specifically, the cleaning member 115 can be connected to the drive box 191. The drive box 191 is directly connected to the frame 110 as the rotating body of the rotating assembly 190, and has a high structural strength. Connecting the cleaning member 115 to the drive box 191 can ensure the reliability of the cleaning member 115 and the stability of rotation.

[0160] exist Fig.19 In the example, the second end 112 may also be provided with a rotating assembly 190, the rotating assembly 190 provided at the first end 111 is a first rotating assembly 190, the rotating assembly 190 provided at the second end 112 is a second rotating assembly 190, the second rotating assembly 190 is rotatably connected to the frame 110, the walking mechanism 116 provided at the second end 112 is connected to the second rotating assembly 190, and the adjusting frame 120 is connected to the second rotating assembly 190. Thus, at the second end 112, the second rotating assembly 190 can drive the walking mechanism 116 and the adjusting frame 120 to rotate relative to the frame 110.

[0161] The cleaning member 115 is located between the first rotating assembly 190 and the second rotating assembly 190. There can be one cleaning member 115, one end of which is connected to the first rotating assembly 190, and the other end of which is connected to the second rotating assembly 190; or, there can be two cleaning members 115, and an auxiliary wheel 1108 is provided between the two cleaning members 115, and the auxiliary wheel 1108 can play the role of auxiliary support, one end of one cleaning member 115 is connected to the first rotating assembly 190, and the other end is connected to the auxiliary wheel 1108; one end of the other cleaning member 115 is connected to the second rotating assembly 190, and the other end is connected to the auxiliary wheel 1108. In this way, it can be avoided that the length of the cleaning member 115 is too long and the rigidity is reduced. Here, the number of cleaning members 115 is just an example, and it is not used to limit the number of cleaning members 115.

[0162] In this way, the first rotating component 190 and the second rotating component 190 are used as the intermediate supporting connection structure. The swing frame 140 and the walking mechanism 116 are connected and supported by the first rotating component 190 at the first end 111, and the adjusting frame 120 and the walking mechanism 116 are connected and supported by the second rotating component 190 at the second end 112, thereby reducing the force borne by the intermediate supporting connection structure, avoiding the risk of bending deformation due to connection and support by a long axis, reducing manufacturing difficulty and reducing costs.

[0163] exist Fig.19 In the example, the cleaning member 115 and the spindle assembly 1104 are coaxially arranged. In some embodiments, the cleaning member 115 and the spindle assembly 1104 can be staggered, that is, the central axis of the cleaning member 115 is parallel to the central axis of the spindle assembly 1104 but not on the same straight line. In this way, when the rotating assembly 190 rotates relative to the frame 110, it will drive the cleaning member 115 to swing, so that when the cleaning robot 10 passes over a protrusion or a concave surface, the rotating assembly 190 rotates so that the walking mechanism 116 keeps in contact with the surface of the photovoltaic array panel 20, and the cleaning member 115 swings to adjust the distance between the cleaning member 115 and the surface of the photovoltaic array panel 20, so that the cleaning member 115 keeps good contact with the surface of the photovoltaic array panel 20, and avoids the cleaning member 115 from hitting the surface of the photovoltaic array panel 20 to cause movement jamming, so as to pass over the protrusion or concave surface.

[0164] See also Fig.17 As shown, according to some embodiments of the present invention, the walking mechanism 116 includes a walking wheel 1161 and a walking motor 1162. The walking wheel 1161 is arranged on the driving box 191, and the rotation axis of the walking wheel 1161 is parallel to the rotation axis of the driving box, and the walking wheel 1161 can be one or more. The walking motor 1162 is connected to the walking wheel 1161 by transmission, for example, the walking motor 1162 and the walking wheel 1161 are connected by gears or by a synchronous belt to drive the walking wheel 1161 to rotate to drive the cleaning robot 10 to move. The walking motor 1162 is arranged on the inner side of the driving box 191, that is, the walking motor 1162 is located on the side of the driving box 191 facing the cleaning member 115. In this way, the walking motor 1162 can be stored in the interior of the cleaning robot 10, thereby improving the compactness of the cleaning robot 10 and reducing the size of the cleaning robot 10. The walking motor 1162 can be arranged between the main beam 1101 and the cleaning member 115 , or, in the walking direction of the cleaning robot 10 , the walking motor 1162 can be arranged on the front side or the rear side of the cleaning member 115 .

[0165] The drive box 191 is a box structure with an internal space, and the transmission assembly is arranged inside the drive box 191 to protect the transmission assembly and prevent it from being contaminated during the cleaning process. The transmission assembly is connected between the travel motor 1162 and the travel wheel 1161 to transmit power. By connecting the travel wheel 1161 and the travel motor 1162 to the drive box 191 and arranging the transmission assembly in the drive box 191, the compactness of the cleaning robot 10 is improved, and a closed environment can be provided to protect the normal operation of the transmission assembly. Fig.19 As shown, in some embodiments, the cleaning robot 101 further includes an electrical box 300, which is disposed on the frame 110 and located on a side of the frame 110 away from the cleaning member 115. A controller is disposed in the electrical box 300, and the controller is used to control the movement of the walking mechanism 116 and the cleaning member 115 of the cleaning robot 10.

[0166] See also Fig. 20 As shown, according to some embodiments of the present invention, the cleaning member 115 includes a roller 1151 and a central shaft 1152. The roller 1151 is suitable for contacting the surface of the photovoltaic array panel 20 to clean the surface of the photovoltaic array panel 20. The central shaft 1152 is inserted into the roller 1151, and the central shaft 1152 is detachably connected to the roller. By dividing the cleaning member 115 into two parts, the roller as the main wear part can be replaced after long-term use, avoiding the overall replacement of the cleaning member 115 and reducing costs. The central shaft 1152 is rotatably connected to the rotating assembly 190. For example, in some embodiments, a plug-in is connected to the end of the central shaft 1152, and the plug-in has a certain elasticity. A bearing is provided on the drive housing 191, and the plug-in is inserted into the bearing to fix the central shaft 1152.

[0167] In some embodiments, the cleaning member 115 further includes an intermediate sleeve 1153, which is located between the central shaft 1152 and the roller 1151. The intermediate sleeve 1153 is sleeved on the central shaft 1152 and is detachably connected to the central shaft 1152. For example, the intermediate sleeve 1153 may be an elastic member, which is fixed to the central shaft 1152 by elastic deformation. The roller 1151 is fixedly connected to the central shaft 1152. For example, when the roller 1151 may be a bristle member, the bristles are fixed to the intermediate sleeve 1153 by bonding or machine weaving. In this way, the cleaning member 115 has a multi-layer structure. During manufacturing, each layer of the structure can be manufactured separately and then assembled, which reduces the manufacturing difficulty. In the later maintenance, only the roller 1151 and the intermediate sleeve 1153 can be replaced, which reduces the cost.

[0168] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A cleaning robot, characterized in that: include: A rack (110), the rack (110) being arranged along a light-receiving surface parallel to the photovoltaic array panel (20); A swing frame (140), the swing frame (140) being rotatably disposed on the frame (110), the swing frame (140) being provided with side guide wheels (141) along the width direction of the frame (110), the side guide wheels (141) being rotatably connected to the swing frame (140); A rotating assembly (190), the rotating assembly (190) being rotatably connected to the frame (110), and the rotating axis of the rotating assembly (190) being parallel to the length direction of the frame (110), and the swing frame (140) being connected to the rotating assembly (190); A plurality of walking mechanisms (116), wherein the walking mechanisms (116) are suitable for moving along the light-receiving surface and / or the frame of the photovoltaic array panel (20); A cleaning piece (115) is used to clean the photovoltaic array panel (20); at least one end of the cleaning piece (115) is connected to the rotating assembly (190); the cleaning piece (115) can rotate relative to the frame (110) following the rotating assembly (190); and the cleaning piece (115) remains in contact with the surface of the photovoltaic array panel (20).

2. The cleaning robot according to claim 1, characterized in that: Also includes: a swing angle detection mechanism (150), the swing angle detection mechanism (150) being arranged between the frame (110) and the swing frame (140), the swing angle detection mechanism (150) being used to detect a rotation angle between the swing frame (140) and the frame (110); A controller is communicatively connected to the swing angle detection mechanism (150) and is connected to the walking mechanism (116).

3. The cleaning robot according to claim 2, characterized in that: When the frame (110) and the swing frame (140) are perpendicular, the position of the swing frame (140) is the origin; The angle through which the swing frame (140) swings from the origin position is the rotation angle value; The frame (110) has a first end (111) and a second end (112); the first end (111) of the frame (110) is hung on the top edge of the photovoltaic array panel (20); the second end (112) of the frame (110) extends to the outside of the bottom edge of the photovoltaic array panel (20); In the walking direction of the cleaning robot, when the first end (111) of the frame (110) is located in front of the second end (112) of the frame (110), the turning angle value is a positive value; When the second end (112) of the frame (110) is located in front of the first end (111) of the frame (110), the rotation angle value is a negative value; When the first end (111) of the frame (110) and the second end (112) of the frame (110) are parallel, the frame (110) and the swing frame (140) are perpendicular, and the rotation angle value is 0.

4. The cleaning robot according to claim 2 or 3, characterized in that: The swing frame (140) is rotatably connected to the frame (110) via a swing shaft (142); The cleaning robot further comprises a transmission mechanism (160), at least part of the transmission mechanism (160) being arranged on the swing shaft (142), and another part of the transmission mechanism (160) being arranged on the swing angle detection mechanism (150).

5. The cleaning robot according to claim 4, characterized in that: The transmission mechanism (160) comprises a first gear (161) and a second gear (162), wherein the first gear (161) is arranged on the swing shaft (142), and the second gear (162) is arranged on the swing angle detection mechanism (150).

6. The cleaning robot according to claim 1, characterized in that: The cleaning member (115) comprises: A roller (1151), wherein the roller (1151) is suitable for contacting the panel surface of the photovoltaic array panel (20); A central shaft (1152), the central shaft (1152) is passed through the roller (1151), the central shaft (1152) and the roller (1151) are detachably connected, and the central shaft (1152) and the rotating assembly (190) are rotatably connected.

7. The cleaning robot according to claim 1, characterized in that: The rotating assembly (190) comprises: A driving box (191), the driving box (191) being rotatably connected to the frame (110), and the walking mechanism (116) being connected to one side of the driving box (191); A connecting plate (192), the connecting plate (192) being connected to the other side of the driving housing (191), and the swing frame (140) being connected to the connecting plate (192).

8. The cleaning robot according to claim 7, characterized in that: The frame (110) comprises: Main beam (1101); A structural plate (1102), the structural plate (1102) being arranged at an end of the main crossbeam (1101), the structural plate (1102) being not parallel to the main crossbeam (1101), and the structural plate (1102) being connected to the rotating assembly (190); A spindle assembly (1104), wherein the spindle assembly (1104) is inserted through the rotating assembly (190) and the structural plate (1102), and the driving housing (191) is rotatable around a central axis of the spindle assembly (1104).

9. The cleaning robot according to claim 8, characterized in that: The central axis of the cleaning member (115) is parallel to the central axis of the spindle assembly (1104) but is not on the same straight line.

10. The cleaning robot according to claim 1, characterized in that: The second end (112) of the frame (110) is movably connected to an adjustment frame (120), and the side guide wheel (141) is arranged on the adjustment frame (120); The cleaning robot further comprises a locking mechanism (130), wherein the locking mechanism (130) is arranged on at least one of the adjustment frame (120) and the frame (110), and when the peripheral wall of the side guide wheel (141) is at a preset distance from the lower edge of the photovoltaic array panel (20), the other of the adjustment frame (120) and the frame (110) is connected to the locking mechanism (130) to lock the relative position of the adjustment frame (120) and the frame (110); Wherein, along the arrangement direction of the photovoltaic array panels (20), the preset distance is greater than or equal to the maximum misalignment distance between two adjacent photovoltaic panels (201).

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