Transfer cleaning robot equipment

Abstract

The invention belongs to the technical field of transfer equipment, and particularly relates to transfer cleaning robot equipment which comprises a rail and a transfer trolley, the transfer trolley comprises a bottom plate and a supporting platform, the bottom plate is provided with a bottom plate moving mechanism, a first electric rod and a second electric rod are installed on the bottom plate, and one side of the supporting platform is hinged to the first electric rod; a first transverse sliding rail is machined on the other side of the supporting platform and connected with a first sliding base, the second electric rod is hinged to the bottom of the first sliding base, and the supporting platform is provided with a height position sensor and a horizontal position sensor. The inclination angle of the supporting platform of the transfer trolley is adjusted to be matched with the photovoltaic panels through the telescopic first electric rod and the telescopic second electric rod, then the cleaning robot is arranged on the supporting platform, the cleaning robot can be controlled to clean the photovoltaic panels in the same row, and the transfer trolley moves in the column direction; and the cleaning robot can be quickly transferred to the next row for cleaning.

Description

Technical Field

[0001] The present invention belongs to the technical field of transfer equipment, and in particular relates to a transfer cleaning robot equipment. Background Art

[0002] Photovoltaic energy is a clean energy that mainly converts light energy into electrical energy by using photovoltaic modules. Figure 1 and Figure 2 As shown, the photovoltaic power generation array 000 is often arranged in a row of multiple inclined photovoltaic panels 001, and each photovoltaic panel 001 is installed on the ground through a bracket 002. In order to keep the surfaces of these photovoltaic panels clean, people need to use a special cleaning robot 003 to clean the surfaces of the photovoltaic panels. The existing cleaning robot 003 includes a bar case 004, two groups of longitudinal moving wheels 005 located at the bottom of the bar case 004, and two groups of positioning wheels 006 located on both sides of the bar case 004. The two sides of the photovoltaic panel 001 are respectively positioned by the two groups of positioning wheels 006, and the two groups of longitudinal moving wheels 005 are driven to enable the cleaning robot 003 to move along the surface of the photovoltaic panel 001 to clean the surface of the photovoltaic panel. In order to facilitate the cleaning of the photovoltaic panels in the same row, the photovoltaic panels in the same row are often arranged close to each other, so as to facilitate the cleaning robot to run on the surface of the photovoltaic panels in the same row for cleaning.

[0003] However, in actual practice, people often use manual transport to move the cleaning robot 003 to the surface of the photovoltaic panel 001 for use. This is inconvenient when transporting the robot between rows. Therefore, we propose a transport cleaning robot device. Summary of the invention

[0004] The purpose of the present invention is to provide a transport cleaning robot device to solve the problems existing in the background technology.

[0005] In order to achieve the above technical objectives, the technical solution adopted by the present invention is as follows: A transport cleaning robot device comprises a track extending along a photovoltaic power generation array direction and a transport vehicle matching the track, the transport vehicle comprising a bottom plate and a support platform, the bottom plate is slidably connected to the track and the bottom plate is provided with a bottom plate moving mechanism, and the length dimension of the support platform in the direction of the photovoltaic power generation array matches the length dimension of the photovoltaic panel; A first electric rod is installed on one side of the bottom plate corresponding to the lower side of the photovoltaic panel, and a second electric rod is installed on one side of the bottom plate corresponding to the higher side of the photovoltaic panel, the maximum extension length and the minimum extension length of the first electric rod are both smaller than the maximum extension length and the minimum extension length of the second electric rod, one side of the support platform is hinged to the movable ends of the two first electric rods, and two first transverse slide rails are symmetrically processed at the bottom of the other side of the support platform, the two first transverse slide rails are both slidably connected to the first slide seat, and the movable ends of the two second electric rods are respectively hinged to the bottoms of the two first slide seats; Both ends of the supporting platform facing the photovoltaic panel are equipped with height position sensors, and the supporting platform is also equipped with a horizontal position sensor.

[0006] The base plate moving mechanism includes two sets of driving wheel groups, which are installed on both sides of the base plate in the direction of the photovoltaic power generation array. One set of the driving wheel groups is installed with a motor box, and the motor box is used to drive the driving wheel group of this set to rotate.

[0007] The support platform includes a rectangular frame, and the rectangular frame is provided with symmetrical first steel frames on both sides of the photovoltaic power generation array direction, and the rectangular frame is provided with symmetrical second steel frames on both sides between the two first steel frames, and a pad is provided between the first steel frame and the second steel frame on the same side, and the two pads are respectively matched with the two groups of longitudinal moving wheels at the bottom of the cleaning robot.

[0008] The pad is slidably arranged between the first steel frame and the second steel frame, and a boarding and disembarking component is arranged between the bottom plate and the support platform, and the boarding and disembarking component includes a connecting mechanism and a driving mechanism; Wherein, the connecting mechanism includes a transverse connecting rod and a transverse slide, the second steel frames on both sides are provided with longitudinal strip grooves, the two ends of the transverse connecting rod are respectively fixedly connected to the two pads, and the two ends of the transverse connecting rod are respectively slidably connected to the longitudinal strip grooves on both sides, the transverse slide is slidably arranged between the second steel frames on both sides, and the transverse connecting rod movably passes through the transverse slide, and the driving mechanism is used to drive the transverse slide to slide longitudinally; The transverse slide slides longitudinally to the end of the rectangular frame away from the photovoltaic panel, and the transverse connecting rod drives the pads on both sides to slide and extend in a direction away from the photovoltaic panel, and the ends of the pads naturally fall down to form a slope under the action of gravity; The transverse slide slides longitudinally to one end of the rectangular frame close to the photovoltaic panel, and the transverse connecting rod drives the pads on both sides to slide and retract in the direction close to the photovoltaic panel. Under the abutment between the pads and the first steel frame and the second steel frame, the pads are retracted horizontally.

[0009] The bottom of the horizontal slide is connected to a vertical transmission rod through a movable connection assembly, and the driving mechanism includes a motor, a pulley and a guide assembly. The motor is fixedly mounted on the bottom plate and is located between the first electric rod and the second electric rod. The pulley is connected to the bottom plate for transverse sliding. A turntable is rotatably mounted inside the pulley. Both of the second electric rods are fixedly mounted on the turntable. An internal threaded sleeve is fixedly arranged on the bottom of the pulley, and a transmission screw threadedly connected to the internal threaded sleeve is fixedly connected to the output end of the motor. The guide assembly comprises a first guide rail and a second guide rail which are arranged in sequence up and down, the first guide rail is fixed to the bottom plate, the first guide rail extends longitudinally and the extension length is equal to the maximum sliding distance of the pad; The second guide rail is fixed to the pulley, an end of the second guide rail close to the photovoltaic panel is far away from the pulley, and an end of the second guide rail far away from the photovoltaic panel is close to the pulley, the lateral distance between the two ends of the second guide rail is equal to the maximum sliding distance of the pulley, and the vertical transmission rod moves from top to bottom and passes through the first guide rail and the second guide rail in sequence; When the pulley moves to the maximum distance in the direction of the first electric rod, the turntable rotates adaptively, so that the two second electric rods flip over to put the supporting platform in a horizontal state.

[0010] The movable connection assembly includes a vertical sliding rod, a second transverse sliding rail and a second sliding seat. The vertical transmission rod is provided with a vertical sliding hole. The vertical sliding rod is slidably connected to the vertical sliding hole. The second transverse sliding rail is fixedly connected to the bottom of the transverse slide platform. The second sliding seat is slidably connected to the second transverse sliding rail. The upper end of the vertical sliding rod is hinged to the bottom of the second sliding seat.

[0011] Positioning grooves extending away from the photovoltaic panel are formed on the surfaces of the pads on both sides, and the positioning grooves match the longitudinal moving wheels at the bottom of the cleaning robot.

[0012] An abutment block is provided at one end of the pads on both sides away from the photovoltaic panel, and the abutment block is fixedly connected to the pads by a plurality of bolts.

[0013] In this embodiment, a track and a transfer vehicle are set up, and the inclination angle of the support platform of the transfer vehicle is adjusted to match the photovoltaic panels through the retractable first electric rod and the second electric rod. The cleaning robot is then placed on the support platform to control the cleaning robot to clean the photovoltaic panels in the same row. The movement of the transfer vehicle along the column direction can conveniently enable the cleaning robot to be quickly transferred to the next row for cleaning, and there is no need for manpower to carry the cleaning robot among the rows of photovoltaic panels. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] The present invention is further illustrated by means of the non-limiting examples given in the accompanying drawings.

[0015] Figure 1 This is a schematic diagram of the installation structure of the photovoltaic power generation array and the cleaning robot; Figure 2 for Figure 1 A schematic diagram of the structure at A; Figure 3 This is a schematic diagram of the structure of the first embodiment of the present invention when in use; Figure 4 This is a schematic structural diagram of a transfer vehicle according to Embodiment 1 of the present invention; Figure 5 for Figure 4 A schematic diagram of the structure at B; Figure 6 The structure of the cleaning robot after it is lifted to the support platform according to the second embodiment of the present invention is shown in FIG. Figure 1 ; Figure 7 The structure of the cleaning robot after it is lifted to the support platform according to the second embodiment of the present invention is shown in FIG. Figure 2 ; Figure 8 for Figure 7 A schematic diagram of the structure at position C of FIG. Fig. 9 This is a schematic diagram of the structure of the transfer vehicle after the cleaning robot according to the second embodiment of the present invention is raised to the support platform; Fig.10 This is a schematic diagram of the structure of the cleaning robot before getting on the vehicle according to the second embodiment of the present invention; Fig.11 for Fig.10 A schematic diagram of the structure at D of FIG. Fig.12 This is a schematic diagram of the structure of the transfer vehicle before the cleaning robot gets on board according to the second embodiment of the present invention; Fig.13 This is a schematic diagram of the structure of the third embodiment of the present invention.

[0016] The main component symbols are described as follows: Description of the prior art: photovoltaic power generation array 000, photovoltaic panel 001, bracket 002, cleaning robot 003, bar-shaped chassis 004, longitudinal moving wheel 005, positioning wheel 006; Description of the reference numerals in the present application: track 100, bottom plate 110, first electric rod 111, second electric rod 112, support platform 120, first transverse slide rail 121, first slide seat 122, height position sensor 123, horizontal position sensor 124, driving wheel set 130, motor box 131, rectangular frame 140, first steel frame 141, second steel frame 142, pad 143; Transverse connecting rod 200, transverse slide 201, vertical transmission rod 202, vertical slide 203, second transverse slide rail 204, second slide seat 205, motor 210, pulley 211, turntable 212, internal thread sleeve 213, transmission screw 214, first guide rail 215, second guide rail 216, positioning groove 220, abutment block 221; Mounting hole 301 , steel frame 302 , and solar panel 303 . DETAILED DESCRIPTION

[0017] In order to enable those skilled in the art to better understand the present invention, the technical solution of the present invention is further described below in conjunction with the accompanying drawings and embodiments.

[0018] Embodiment 1, as Figures 3 to 5 A transport cleaning robot device shown includes a track 100 extending along the column direction of the photovoltaic power generation array 000 and a transport vehicle matched with the track 100, the transport vehicle includes a bottom plate 110 and a support platform 120, the bottom plate 110 is slidably connected to the track 100 and the bottom plate 110 is provided with a bottom plate moving mechanism, the length dimension of the support platform 120 in the column direction of the photovoltaic power generation array 000 matches the length dimension of the photovoltaic panel 001, and the bottom plate moving mechanism can drive the bottom plate 110 to move along the track 100, so that the transport vehicle can move along the column direction of the photovoltaic power generation array 000; A first electric rod 111 is installed on one side of the bottom plate 110 corresponding to the lower side of the photovoltaic panel 001, and a second electric rod 112 is installed on one side of the bottom plate 110 corresponding to the higher side of the photovoltaic panel 001. The maximum extension length and the minimum extension length of the first electric rod 111 are both smaller than the maximum extension length and the minimum extension length of the second electric rod 112. One side of the support platform 120 is hinged to the movable ends of the two first electric rods 111. Two first transverse slide rails 121 are symmetrically processed at the bottom of the other side of the support platform 120. The two first transverse slide rails 121 are both slidably connected to the first slide seat 122. The two second electric rods 111 are hinged to the movable ends of the two first electric rods 111. The movable ends of the rod 112 are respectively hinged to the bottoms of the two first slides 122. The height of the support platform 120 on this side can be adjusted by lifting the first electric rod 111, and the height of the support platform 120 on this side can be adjusted by lifting the second electric rod 112. The second electric rod 112 and the support platform 120 are connected by the first transverse slide rail 121 and the first slide 122, and the movable end of the second electric rod 112 is hinged to the bottom of the first slide 122, so as to avoid being stuck, so that the support platform 120 can present different heights and angles to adapt to the height and angle of the photovoltaic panel 001. Height position sensors 123 are installed at both ends of the supporting platform 120 facing the photovoltaic panel 001 , and the supporting platform 120 is also installed with a horizontal position sensor 124 .

[0019] Before the equipment is used, the track 100 is laid on the ground along the direction of the photovoltaic power generation array 000, and the transfer vehicle is set at the starting point. The height of the two sides of the support platform 120 is monitored by the height position sensors 123 on both sides by controlling the lifting and lowering of the first electric rod 111 and the second electric rod 112, so that the support platform 120 matches the inclination of the photovoltaic panel 001; When using the device, Figure 3 As shown, the two groups of positioning wheels 006 of the cleaning robot 003 are positioned on both sides of the support platform 120 respectively, and at the same time, the longitudinal moving wheels 005 of the cleaning robot 003 are on the surface of the support platform 120. As the strip chassis 004 that controls the cleaning robot 003 is started, the longitudinal moving wheels 005 are driven to rotate, so that the cleaning robot 003 moves from the support platform 120 to the surfaces of the corresponding photovoltaic panels 001 in the same row in sequence, and cleans the surfaces of the photovoltaic panels 001. After the cleaning is completed, the strip chassis 004 is controlled to rotate the longitudinal moving wheels 005 back to the support platform 120, so that the surfaces of each photovoltaic panel 001 in the row can be cleaned; After the surfaces of each photovoltaic panel 001 in the row are cleaned, the bottom plate 110 is controlled by the bottom plate moving mechanism to drive the transfer vehicle to move to the photovoltaic panels 001 in the next row. The above steps are repeated to complete the cleaning of the entire photovoltaic power generation array 000.

[0020] It should also be noted that, in the present embodiment, the interior of the strip case 004 and the bottom plate 110 of the cleaning robot 003 are both provided with a controller into which an operating program can be written, which is not shown in the figure. Before use, an operating program for controlling the rotation speed, rotation time and steering of the longitudinal moving wheel 005 can be written into the controller in the strip case 004 to match the total length of each photovoltaic panel 001 in the same row, so as to control the longitudinal moving wheel 005 to automatically move on the surface of the photovoltaic panel 001 in the row, and automatically perform cleaning and return. At the same time, before use, the controller provided on the bottom plate 110 can also be written with a program for controlling the elongation of the first electric rod 111, the elongation of the second electric rod 112 and the bottom plate moving mechanism. The movement program of the movement distance is used to match the lower side height of each photovoltaic panel 001 in the same row through the operation program of the elongation of the first electric rod 111, and the elongation of the first electric rod 111 is monitored by one of the height position sensors 123. The higher side height of each photovoltaic panel 001 in the same row is matched through the operation program of the elongation of the second electric rod 112, and the elongation of the second electric rod 112 is monitored by another height position sensor 123. The installation spacing between two adjacent rows is matched through the operation program of the movement distance of the bottom plate moving mechanism, and the movement distance of the bottom plate moving mechanism is monitored by the horizontal position sensor 124. In this way, the equipment can be automatically controlled.

[0021] In this embodiment, a track and a transfer vehicle are set up, and the inclination angle of the support platform of the transfer vehicle is adjusted to match the photovoltaic panels through the retractable first electric rod and the second electric rod. The cleaning robot is then placed on the support platform to control the cleaning robot to clean the photovoltaic panels in the same row. The movement of the transfer vehicle along the column direction can conveniently enable the cleaning robot to be quickly transferred to the next row for cleaning, and there is no need for manpower to carry the cleaning robot among the rows of photovoltaic panels.

[0022] As a specific description of the bottom plate moving mechanism in this embodiment, Figure 4 As shown, the base plate moving mechanism includes two sets of driving wheel groups 130, and the two sets of driving wheel groups 130 are installed on both sides of the base plate 110 in the direction of the photovoltaic power generation array 000. One set of driving wheel groups 130 is installed with a motor box 131, and the motor box 131 is used to drive the set of driving wheel groups 130 to rotate. In this way, by starting the motor box 131, one set of driving wheel groups 130 can be rotated, and then each set of driving wheel groups 130 drives the base plate 110 and the transfer vehicle to move along the track 100.

[0023] As a further explanation of the support platform in this embodiment, Figure 4 and Figure 5As shown, the support platform 120 includes a rectangular frame 140, and the rectangular frame 140 is provided with symmetrical first steel frames 141 on both sides of the photovoltaic power generation array 000 in the column direction, and the rectangular frame 140 is provided with symmetrical second steel frames 142 on both sides between the two first steel frames 141, and pads 143 are provided between the first steel frame 141 and the second steel frame 142 on the same side, and the two pads 143 are respectively matched with the two groups of longitudinal moving wheels 005 at the bottom of the cleaning robot 003, so that the two groups of longitudinal moving wheels 005 at the bottom of the cleaning robot 003 can be placed on the support platform 120 through the pads 143 on both sides.

[0024] Embodiment 2 is based on Embodiment 1, and further improvements are made to facilitate people to place the cleaning robot on the support platform, so as to facilitate the cleaning robot to get on and off the vehicle conveniently. Figures 6 to 12 As shown, the pad 143 is slidably disposed between the first steel frame 141 and the second steel frame 142, and a boarding and disembarking component is disposed between the bottom plate 110 and the supporting platform 120, and the boarding and disembarking component includes a connecting mechanism and a driving mechanism; Among them, the connecting mechanism includes a transverse connecting rod 200 and a transverse slide 201. The second steel frames 142 on both sides are provided with longitudinal strip grooves. The two ends of the transverse connecting rod 200 are respectively fixedly connected to the two pads 143, and the two ends of the transverse connecting rod 200 are respectively slidably connected to the longitudinal strip grooves on both sides. The transverse slide 201 is slidably arranged between the second steel frames 142 on both sides, and the transverse connecting rod 200 movably passes through the transverse slide 201. The driving mechanism is used to drive the transverse slide 201 to slide longitudinally.

[0025] like Figures 10 to 12 As shown, in the state before getting on the vehicle, the driving mechanism is started to make the transverse slide 201 slide longitudinally to the end of the rectangular frame 140 away from the photovoltaic panel 001, and the transverse connecting rod 200 drives the pads 143 on both sides to slide and extend in the direction away from the photovoltaic panel 001. Under the action of gravity, the ends of the pads 143 naturally fall down to form a slope. At this time, people can manually control the strip chassis 004 to start, so that the longitudinal moving wheel 005 rotates, and the cleaning robot 003 moves to the slope formed by the two pads 143 falling and stops; like Figures 6 to 9As shown, after the cleaning robot 003 moves to the slope formed by the falling of the two pads 143, the driving mechanism is started, and the transverse slide 201 slides longitudinally to the end of the rectangular frame 140 close to the photovoltaic panel 001, and the transverse connecting rod 200 drives the pads 143 on both sides to slide and retract in the direction close to the photovoltaic panel 001. Under the abutment between the pads 143 and the first steel frame 141 and the second steel frame 142, the pads 143 are horizontally retracted. At this time, the cleaning robot 003 on the two pads 143 also follows the horizontal retraction of the two pads 143 and automatically enters the surface of the support platform 120, completing the boarding function of the cleaning robot 003, and there is no need for manpower to carry the cleaning robot 003 to the surface of the support platform 120.

[0026] In this way, people can move the horizontal slide 201 to the end away from the photovoltaic panel 001 and slide out the two pads 143 to form a slope, which can be used to get on the vehicle when loading the cleaning robot 003, and can be used to get off the cleaning robot 003 after cleaning is completed. By moving the horizontal slide 201 to the end close to the photovoltaic panel 001, the two pads 143 can be horizontally retracted, and when loading the cleaning robot 003, the cleaning robot 003 can be moved to the supporting platform, and after the cleaning robot 003 gets off the vehicle, the two pads 143 can be horizontally retracted to the initial state.

[0027] As a further description of the driving mechanism in this embodiment, Figures 6 to 12 As shown, the bottom of the horizontal slide 201 is connected to a vertical transmission rod 202 through a movable connection assembly, and the movable connection assembly includes a vertical slide rod 203, a second horizontal slide rail 204 and a second slide seat 205. The vertical transmission rod 202 is provided with a vertical slide hole, the vertical slide rod 203 is slidably connected to the vertical slide hole, the second horizontal slide rail 204 is fixedly connected to the bottom of the horizontal slide 201, the second slide seat 205 is slidably connected to the second horizontal slide rail 204, and the upper end of the vertical slide rod 203 is hinged to the bottom of the second slide seat 205; The driving mechanism includes a motor 210, a pulley 211 and a guide assembly. The motor 210 is fixedly mounted on the bottom plate 110 and is located between the first electric rod 111 and the second electric rod 112. The pulley 211 is slidably connected to the bottom plate 110 in a transverse direction. A turntable 212 is rotatably mounted inside the pulley 211. Both the second electric rods 112 are fixedly mounted on the turntable 212. An internal threaded sleeve 213 is fixedly arranged at the bottom of the pulley 211. A transmission screw 214 threadedly connected to the internal threaded sleeve 213 is fixedly connected to the output end of the motor 210. The guide assembly includes a first guide rail 215 and a second guide rail 216 which are sequentially arranged up and down. The first guide rail 215 is fixed to the bottom plate 110. The first guide rail 215 extends longitudinally and the extension length is equal to the maximum sliding distance of the pad 143. The second guide rail 216 is fixed to the pulley 211, the end of the second guide rail 216 close to the photovoltaic panel 001 is far away from the pulley 211, and the end away from the photovoltaic panel 001 is close to the pulley 211, the lateral distance between the two ends of the second guide rail 216 is equal to the maximum sliding distance of the pulley 211, and the vertical transmission rod 202 moves from top to bottom and passes through the first guide rail 215 and the second guide rail 216 in sequence; When the pulley 211 moves to the maximum distance in the direction of the first electric rod 111 , the turntable 212 rotates adaptively, so that the two second electric rods 111 flip over to put the supporting platform 120 in a horizontal state.

[0028] like Figures 10 to 12 As shown, in the state before getting on the vehicle, the motor 210 is started to drive the transmission screw 214 to rotate, and the threaded transmission connection between the transmission screw 214 and the internal threaded sleeve 213 causes the pulley 211 to move to the maximum distance in the direction of the first electric rod 111, thereby forcing the turntable 212 in the pulley 211 to rotate, and the second electric rod 112 is flipped in the direction away from the first electric rod 111, so that the support platform 120 is in a horizontal state; In this process, it can be known from the above that the horizontal slide 201 slides longitudinally to the end of the rectangular frame 140 away from the photovoltaic panel 001. At this time, the vertical transmission rod 202 at the bottom of the horizontal slide 201 is located at the end of the first guide rail 215 and the second guide rail 216 away from the photovoltaic panel 001. At the same time, because the support platform 120 is turned horizontal, the vertical slide rod 203 is in a state of being retracted into the vertical transmission rod 202. like Figures 6 to 9 As shown, during the process of getting on the vehicle, the motor 210 starts to drive the transmission screw 214 to rotate, and the threaded transmission connection between the transmission screw 214 and the internal threaded sleeve 213 causes the pulley 211 to move back to its original position, thereby forcing the turntable 212 in the pulley 211 to rotate, and flipping the second electric rod 112 back to return the support platform 120 to the inclined state; In this process, through the common guidance of the second guide rail 216 and the first guide rail 215, the vertical transmission rod 202 can drive the horizontal slide 201 to slide longitudinally to the end of the rectangular frame 140 close to the photovoltaic panel 001, and because the support platform 120 is tilted again, the vertical slide rod 203 is in a state of extending from the vertical transmission rod 202; Furthermore, during the flipping process of the support platform 120, by providing a second transverse slide rail 204 and a second slide seat 205 sliding in the second transverse slide rail 204, and by hingedly connecting the vertical slide rod 203 to the second slide seat 205, during the flipping process of the support platform 120, the vertical slide rod 203 and the vertical transmission rod 202 can be adaptively extended and retracted, and the second slide seat 205 can adaptively slide in the second transverse slide rail 204, thereby avoiding jamming.

[0029] Furthermore, in order to prevent the cleaning robot from slipping on a slope, further improvements have been made, such as Fig. 9 and Fig.12 As shown, the surfaces of the pads 143 on both sides are provided with positioning grooves 220 extending away from the photovoltaic panel 001, and the positioning grooves 220 match the longitudinal moving wheels 005 at the bottom of the cleaning robot 003; An abutment block 221 is provided at one end of the two side pads 143 away from the photovoltaic panel 001 , and the abutment block 221 is fixedly connected to the pads 143 by a plurality of bolts.

[0030] When getting on the vehicle, the abutment block 221 and the positioning groove 220 are in a fixed state. When the two sets of longitudinal moving wheels 005 of the cleaning robot 003 enter the two positioning grooves 220 from the two pads 143 respectively, the longitudinal moving wheels 005 can be positioned and no longer slide longitudinally, so that the cleaning robot will not fall off the pads 143 during the getting on the vehicle, and no manual support is required; When the cleaning robot 003 is to be unloaded from the vehicle, the abutment block 221 is removed by removing the fixing bolts, so that the cleaning robot 003 can be moved out along the positioning groove 220 .

[0031] Embodiment 3 is a further improvement made on the basis of embodiment 2. Fig.13 As shown, a plurality of mounting holes 301 are provided on both sides of the length direction of the support platform 120 , a steel frame 302 is installed on the bottom plate 110 , a solar panel 303 is installed and fixed on the steel frame 302 , and the solar panel 303 is electrically connected to the motor box 131 .

[0032] The installation holes 301 can be used to install reinforcing ribs. When the length of the support platform 120 is long, installing reinforcing ribs through the installation holes 301 can ensure the strength of the support platform 120. At the same time, the solar panel 303 installed through the steel frame 302 can provide electrical energy to the motor box 131.

[0033] The above embodiments are merely illustrative of the principles and effects of the present invention, and are not intended to limit the present invention. Anyone familiar with the technology may modify or change the above embodiments without violating the spirit and scope of the present invention. Therefore, all equivalent modifications or changes made by those with ordinary knowledge in the technical field without departing from the spirit and technical ideas disclosed by the present invention should still be covered by the claims of the present invention.

Claims

1. A transport cleaning robot device, comprising a track extending along the direction of a photovoltaic power generation array and a transport vehicle matching the track, characterized in that: The transfer vehicle comprises a bottom plate and a support platform, the bottom plate is slidably connected to the track and the bottom plate is provided with a bottom plate moving mechanism, and the length dimension of the support platform in the direction of the photovoltaic power generation array matches the length dimension of the photovoltaic panel; A first electric rod is installed on one side of the bottom plate corresponding to the lower side of the photovoltaic panel, and a second electric rod is installed on one side of the bottom plate corresponding to the higher side of the photovoltaic panel, the maximum extension length and the minimum extension length of the first electric rod are both smaller than the maximum extension length and the minimum extension length of the second electric rod, one side of the support platform is hinged to the movable ends of the two first electric rods, and two first transverse slide rails are symmetrically processed at the bottom of the other side of the support platform, the two first transverse slide rails are both slidably connected to the first slide seat, and the movable ends of the two second electric rods are respectively hinged to the bottoms of the two first slide seats; Both ends of the supporting platform facing the photovoltaic panel are equipped with height position sensors, and the supporting platform is also equipped with a horizontal position sensor.

2. A transport cleaning robot device according to claim 1, characterized in that: The base plate moving mechanism includes two sets of driving wheel groups, which are installed on both sides of the base plate in the direction of the photovoltaic power generation array. One set of the driving wheel groups is installed with a motor box, and the motor box is used to drive the driving wheel group of this set to rotate.

3. A transport cleaning robot device according to claim 2, characterized in that: The support platform includes a rectangular frame, and the rectangular frame is provided with symmetrical first steel frames on both sides of the photovoltaic power generation array direction, and the rectangular frame is provided with symmetrical second steel frames on both sides between the two first steel frames, and a pad is provided between the first steel frame and the second steel frame on the same side, and the two pads are respectively matched with the two groups of longitudinal moving wheels at the bottom of the cleaning robot.

4. A transport cleaning robot device according to claim 3, characterized in that: The pad is slidably arranged between the first steel frame and the second steel frame, and a boarding and disembarking component is arranged between the bottom plate and the support platform, and the boarding and disembarking component includes a connecting mechanism and a driving mechanism; Wherein, the connecting mechanism includes a transverse connecting rod and a transverse slide, the second steel frames on both sides are provided with longitudinal strip grooves, the two ends of the transverse connecting rod are respectively fixedly connected to the two pads, and the two ends of the transverse connecting rod are respectively slidably connected to the longitudinal strip grooves on both sides, the transverse slide is slidably arranged between the second steel frames on both sides, and the transverse connecting rod movably passes through the transverse slide, and the driving mechanism is used to drive the transverse slide to slide longitudinally; The transverse slide slides longitudinally to the end of the rectangular frame away from the photovoltaic panel, and the transverse connecting rod drives the pads on both sides to slide and extend in a direction away from the photovoltaic panel, and the ends of the pads naturally fall down to form a slope under the action of gravity; The transverse slide slides longitudinally to one end of the rectangular frame close to the photovoltaic panel, and the transverse connecting rod drives the pads on both sides to slide and retract in the direction close to the photovoltaic panel. Under the abutment between the pads and the first steel frame and the second steel frame, the pads are retracted horizontally.

5. A transport cleaning robot device according to claim 4, characterized in that: The bottom of the horizontal slide is connected to a vertical transmission rod through a movable connection component, and the driving mechanism includes a motor, a pulley and a guide component. The motor is fixedly installed on the bottom plate and is located between the first electric rod and the second electric rod. The pulley is connected to the bottom plate for horizontal sliding. A turntable is rotatably installed inside the pulley. Both of the second electric rods are fixedly installed on the turntable. An internal threaded sleeve is fixedly provided on the bottom of the pulley, and a transmission screw threadedly connected to the internal threaded sleeve is fixedly connected to the output end of the motor; The guide assembly comprises a first guide rail and a second guide rail which are arranged in sequence up and down, the first guide rail is fixed to the bottom plate, the first guide rail extends longitudinally and the extension length is equal to the maximum sliding distance of the pad; The second guide rail is fixed to the pulley, an end of the second guide rail close to the photovoltaic panel is far away from the pulley, and an end of the second guide rail far away from the photovoltaic panel is close to the pulley, the lateral distance between the two ends of the second guide rail is equal to the maximum sliding distance of the pulley, and the vertical transmission rod moves from top to bottom and passes through the first guide rail and the second guide rail in sequence; When the pulley moves to the maximum distance in the direction of the first electric rod, the turntable rotates adaptively, so that the two second electric rods flip over to put the supporting platform in a horizontal state.

6. A transport cleaning robot device according to claim 5, characterized in that: The movable connection assembly includes a vertical sliding rod, a second transverse sliding rail and a second sliding seat. The vertical transmission rod is provided with a vertical sliding hole. The vertical sliding rod is slidably connected to the vertical sliding hole. The second transverse sliding rail is fixedly connected to the bottom of the transverse slide platform. The second sliding seat is slidably connected to the second transverse sliding rail. The upper end of the vertical sliding rod is hinged to the bottom of the second sliding seat.

7. A transport cleaning robot device according to claim 6, characterized in that: Positioning grooves extending away from the photovoltaic panel are formed on the surfaces of the pads on both sides, and the positioning grooves match the longitudinal moving wheels at the bottom of the cleaning robot.

8. The transport cleaning robot device according to claim 7, characterized in that: An abutment block is provided at one end of the pads on both sides away from the photovoltaic panel, and the abutment block is fixedly connected to the pads by a plurality of bolts.

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