Photovoltaic cleaning robot and system

Abstract

The photovoltaic cleaning robot comprises a frame, a cleaning part is arranged on the frame, a first guide mechanism is arranged on one side, in the first direction, of the frame and comprises a first guide wheel, the first guide wheel is rotationally connected to the frame, and the rotating axis of the first guide wheel is parallel to the second direction; the first direction and the second direction intersect, the second guide mechanism is arranged on the other side of the frame in the first direction, the second guide mechanism comprises a climbing part, the climbing part is rotatably connected to the frame around the axis parallel to the second direction, the climbing part is configured to rotate relative to the frame under the action of an obstacle, and the elastic buffer part is arranged on the frame and used for buffering the obstacle. The elastic buffer part is configured to elastically deform under the rotation effect of the climbing part and apply elastic force to the climbing part. In conclusion, according to the photovoltaic cleaning robot in the embodiment, the impact of the photovoltaic cleaning robot on the photovoltaic module is reduced, and the service life of the photovoltaic module is prolonged.

Description

Technical Field

[0001] The present application relates to the technical field of photovoltaic component maintenance, and in particular to a photovoltaic cleaning robot and system. Background Art

[0002] With the updating and iteration of production technology and the popularization of environmental awareness, solar energy technology has gradually become a hot spot in the research of new energy sources around the world. Photovoltaic modules, as important components that convert sunlight into electrical energy, are placed outdoors for a long time. Dirt easily adheres to the surface of photovoltaic modules, which will reduce the power generation of photovoltaic modules.

[0003] In the prior art, a cleaning robot is used to clean dirt on the surface of a photovoltaic module. The walking wheels of the cleaning robot move along the surface of the photovoltaic module, and the guide wheels move along the frame of the photovoltaic module. However, when two adjacent photovoltaic modules are arranged in a misaligned manner, the movement of the guide wheels of the cleaning robot will be blocked by the step formed by the misaligned arrangement of the two photovoltaic modules. The step causes the movement of the cleaning robot to be stuck, resulting in the cleaning robot being unable to complete subsequent cleaning work.

[0004] In the related art, a sensor is set on the cleaning robot to detect the steps on the movement track of the cleaning robot. According to the detection result of the sensor, the rotation direction and rotation speed of each walking wheel in the cleaning robot are adjusted to facilitate the cleaning robot to climb over the steps. However, when the cleaning robot encounters a step, the guide wheel of the cleaning robot will impact the photovoltaic module frame forming the step, resulting in a reduction in the service life of the photovoltaic module. Summary of the invention

[0005] Based on this, it is necessary to propose a photovoltaic cleaning robot and system to address the problem that when the current cleaning robot encounters steps, the guide wheels of the cleaning robot will impact the photovoltaic module frame that forms the step, resulting in a reduction in the service life of the photovoltaic module.

[0006] A photovoltaic cleaning robot, comprising:

[0007] frame;

[0008] A cleaning member, disposed on the frame;

[0009] A first guide mechanism is arranged at one side of the frame along the first direction, the first guide mechanism comprises at least one first guide wheel, the first guide wheel is rotatably connected to the frame, a rotation axis of the first guide wheel is parallel to the second direction, and the first direction and the second direction are arranged to intersect;

[0010] a second guide mechanism, arranged at the other side of the frame along the first direction, the second guide mechanism comprising at least one climbing member, the climbing member being rotatably connected to the frame around an axis parallel to the second direction, the climbing member being configured to rotate relative to the frame under the action of an obstacle;

[0011] At least one elastic buffer is disposed on the frame, and the elastic buffer is configured to be elastically deformed under the rotation of the climbing member and apply elastic force to the climbing member.

[0012] In one embodiment, the climbing member includes a swing arm and a track assembly;

[0013] The swing arm extends along a third direction, the first direction and the second direction are both arranged to intersect the third direction, the swing arm is connected to the frame around an axis parallel to the second direction, and the swing arm is configured to rotate under the action of the obstacle;

[0014] The track assembly is arranged on the swing arm, and the track assembly is configured to drive the frame to move along the extension direction of the swing arm. The elastic buffer is configured to be elastically deformed under the rotation of the swing arm and apply elastic force to the swing arm.

[0015] In one embodiment, the track assembly includes a driving wheel, a driven wheel and a synchronous belt;

[0016] The driving wheel and the driven wheel are arranged along the third direction, the driving wheel is connected to the frame, the rotation axis of the driving wheel coincides with the rotation axis of the swing arm, the driven wheel is rotationally connected to the swing arm, and the rotation axis of the driven wheel is parallel to the rotation axis of the driving wheel;

[0017] The synchronous belt is wound around the driving wheel and the driven wheel.

[0018] In one embodiment, the outer diameter of the driven wheel is smaller than the outer diameter of the driving wheel;

[0019] The synchronous belt is configured to drive the swing arm to rotate relative to the frame under the push of the obstacle.

[0020] In one embodiment, the swing arm is provided with a plurality of mounting holes, the plurality of mounting holes are arranged along the extension direction of the swing arm, and each of the mounting holes penetrates the swing arm along the second direction;

[0021] The driven wheel is mounted on any of the mounting holes and is configured to rotate around the axis of the corresponding mounting hole.

[0022] In one embodiment, the climbing member includes a driving member, a fixed end of the driving member is arranged on the frame, a driving end of the driving member is connected to the driving wheel, and the driving member is configured to drive the driving wheel to rotate around its own axis.

[0023] In one embodiment, the climbing member includes a lever, the lever extends along the second direction, the lever is arranged on one side of the swing arm along the second direction, and the lever is configured to perform a circular motion around the rotation axis of the swing arm under the drive of the swing arm;

[0024] The fixed end of the elastic buffer is arranged on the frame, and the free end of the elastic buffer is located on the movement track of the shifting rod and is configured to be elastically deformed under the push of the shifting rod.

[0025] In one embodiment, the second guide mechanism comprises two climbing members arranged along the third direction, and the driven wheel in each climbing member is located on a side of the driving wheel in the climbing member away from the other climbing member along the third direction;

[0026] The photovoltaic cleaning robot comprises two elastic buffers, which are arranged corresponding to the two climbing members, and each elastic buffer is configured to undergo elastic deformation under the rotation of the swing arm in the corresponding climbing member and apply elastic force to the corresponding swing arm.

[0027] In one embodiment, the photovoltaic cleaning robot includes two walking mechanisms arranged along the first direction, and the walking mechanisms are both located between the first guide mechanism and the second guide mechanism;

[0028] The walking mechanism comprises at least one walking wheel, the walking wheel is rotatably connected to the frame, the walking wheel is configured to rotate around its own axis, and the axis of the walking wheel is parallel to the first direction.

[0029] In the photovoltaic cleaning robot of this embodiment, the first guide wheel in the first guide mechanism and the climbing member in the second guide mechanism respectively contact the frame of the photovoltaic component on two opposite sides in the first direction. During the process of the photovoltaic cleaning robot cleaning the photovoltaic component, the frame moves relative to the photovoltaic component, and drives the first guide wheel and the climbing member to move along the corresponding frame respectively. The cleaning member arranged on the frame moves relative to the photovoltaic component to clean any area on the surface of the photovoltaic component on the side receiving light, and cleans the dirt on the surface of the photovoltaic component on the side receiving light.

[0030] When the photovoltaic cleaning robot moves between two photovoltaic modules arranged in a staggered manner, and the second guide mechanism encounters a step formed by the frames of the two photovoltaic modules arranged in a staggered manner, the climbing member rotates relative to the frame around an axis parallel to the second direction under the push of the step to climb over the step formed by the frames of the two photovoltaic modules arranged in a staggered manner. During this process, the frame tilts, and the elastic buffer member elastically deforms under the rotation of the climbing member, and applies elastic force to the climbing member, thereby increasing the contact force between the climbing member and the step formed by the frames of the two photovoltaic modules arranged in a staggered manner, pressing the climbing member and the step formed by the frames of the two photovoltaic modules arranged in a staggered manner together, and increasing the ability of the climbing member to climb over the step formed by the frames of the two photovoltaic modules arranged in a staggered manner until the climbing member climbs over the step formed by the frames of the two photovoltaic modules arranged in a staggered manner.

[0031] When the photovoltaic cleaning robot moves between two photovoltaic modules arranged in a staggered manner, and the climbing member of the second guide mechanism falls from the step formed by the frames of the two photovoltaic modules arranged in a staggered manner, the frame of the photovoltaic module located in the falling direction of the climbing member in the first direction of the two photovoltaic modules forming the step pushes the climbing member to rotate relative to the frame around an axis parallel to the second direction, and the elastic buffer member undergoes elastic deformation under the rotation of the climbing member and applies an elastic force to the climbing member. Under the elastic force of the elastic buffer member, the photovoltaic module located in the falling direction of the climbing member pushes the climbing member to rotate slowly relative to the frame, and the contact time between the climbing member and the frame of the photovoltaic module located in the falling direction of the climbing member increases. In the process of the climbing member falling from the step formed by the frames of the two photovoltaic modules arranged in a staggered manner, the impact on the photovoltaic module located in the falling direction of the climbing member is reduced, thereby reducing the risk of damage to the photovoltaic module located in the falling direction of the climbing member and increasing the service life of the photovoltaic module.

[0032] To summarize, the photovoltaic cleaning robot in the present embodiment is connected to the frame by a climbing member that rotates around an axis parallel to the second direction. The elastic buffer member is elastically deformed under the rotation of the climbing member and applies elastic force to the climbing member, thereby improving the ability of the photovoltaic cleaning robot to pass through the steps formed by the frames of two staggered photovoltaic modules, reducing the impact of the photovoltaic cleaning robot on the photovoltaic modules when falling from the steps formed by the frames of two staggered photovoltaic modules, and improving the service life of the photovoltaic modules.

[0033] The present application also proposes a photovoltaic cleaning system, comprising the photovoltaic cleaning robot described above.

[0034] In the photovoltaic cleaning system of this embodiment, the first guide wheel in the first guide mechanism and the climbing member in the second guide mechanism are in contact with the frame of the photovoltaic component on two opposite sides in the first direction respectively. During the process of the photovoltaic cleaning robot cleaning the photovoltaic component, the frame moves relative to the photovoltaic component, and drives the first guide wheel and the climbing member to move along the corresponding frame respectively. The cleaning member arranged on the frame moves relative to the photovoltaic component to clean any area on the surface of the photovoltaic component on the side receiving light, and cleans the dirt on the surface of the photovoltaic component on the side receiving light.

[0035] When the photovoltaic cleaning robot moves between two photovoltaic modules arranged in a staggered manner, and the second guide mechanism encounters a step formed by the frames of the two photovoltaic modules arranged in a staggered manner, the climbing member rotates relative to the frame around an axis parallel to the second direction under the push of the step to climb over the step formed by the frames of the two photovoltaic modules arranged in a staggered manner. During this process, the frame tilts, and the elastic buffer member elastically deforms under the rotation of the climbing member, and applies elastic force to the climbing member, thereby increasing the contact force between the climbing member and the step formed by the frames of the two photovoltaic modules arranged in a staggered manner, pressing the climbing member and the step formed by the frames of the two photovoltaic modules arranged in a staggered manner together, and increasing the ability of the climbing member to climb over the step formed by the frames of the two photovoltaic modules arranged in a staggered manner until the climbing member climbs over the step formed by the frames of the two photovoltaic modules arranged in a staggered manner.

[0036] When the photovoltaic cleaning robot moves between two photovoltaic modules arranged in a staggered manner, and the climbing member of the second guide mechanism falls from the step formed by the frames of the two photovoltaic modules arranged in a staggered manner, the frame of the photovoltaic module located in the falling direction of the climbing member in the first direction of the two photovoltaic modules forming the step pushes the climbing member to rotate relative to the frame around an axis parallel to the second direction, and the elastic buffer member undergoes elastic deformation under the rotation of the climbing member and applies an elastic force to the climbing member. Under the elastic force of the elastic buffer member, the photovoltaic module located in the falling direction of the climbing member pushes the climbing member to rotate slowly relative to the frame, and the contact time between the climbing member and the frame of the photovoltaic module located in the falling direction of the climbing member increases. In the process of the climbing member falling from the step formed by the frames of the two photovoltaic modules arranged in a staggered manner, the impact on the photovoltaic module located in the falling direction of the climbing member is reduced, thereby reducing the risk of damage to the photovoltaic module located in the falling direction of the climbing member and increasing the service life of the photovoltaic module.

[0037] To summarize, the photovoltaic cleaning system in the present embodiment is connected to the frame by a climbing member that rotates around an axis parallel to the second direction. The elastic buffer member is elastically deformed under the rotation of the climbing member and applies elastic force to the climbing member, thereby improving the ability of the photovoltaic cleaning robot to pass through the steps formed by the frames of two staggered photovoltaic modules, reducing the impact of the photovoltaic cleaning robot on the photovoltaic modules when falling from the steps formed by the frames of two staggered photovoltaic modules, and improving the service life of the photovoltaic modules. BRIEF DESCRIPTION OF THE DRAWINGS

[0038] In order to more clearly illustrate the technical solutions in the embodiments or exemplary embodiments of the present application, the drawings required for use in the description of the embodiments or exemplary embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0039] Figure 1 This is a schematic diagram of the structure of a photovoltaic cleaning robot in one embodiment of the present application.

[0040] Figure 2 for Figure 1 A local enlarged schematic diagram of point A in the photovoltaic cleaning robot is shown.

[0041] Figure 3 for Figure 2 A bottom view of the photovoltaic cleaning robot is shown.

[0042] Figure 4 for Figure 1 The right side view of the photovoltaic cleaning robot is shown.

[0043] Figure 5 for Figure 1 A bottom view of the photovoltaic cleaning robot is shown.

[0044] Figure 6 for Figure 1 The schematic diagram of the structure of the photovoltaic cleaning robot shown is when it climbs over the steps formed by the frame of the photovoltaic module.

[0045] Figure 7 for Figure 1 The structure diagram of the photovoltaic cleaning robot in the process of climbing over the steps formed by the frame of the photovoltaic module is shown.

[0046] Figure 8 for Figure 1 The schematic diagram of the structure of the photovoltaic cleaning robot shown is when it falls from the step formed by the frame of the photovoltaic module.

[0047] Reference numerals:

[0048] Photovoltaic cleaning robot 10;

[0049] Frame 100;

[0050] Cleaning parts 200;

[0051] A first guide mechanism 300, a first guide wheel 310;

[0052] The second guide mechanism 400, the climbing member 410, the swing arm 411, the track assembly 412, the driving wheel 412-1, the driven wheel 412-2, the synchronous belt 412-3, the driving member 413, and the lever 414;

[0053] Elastic buffer 500, mounting shaft 510, torsion spring 520;

[0054] Traveling mechanism 600, traveling wheels 610, transmission box 620;

[0055] Photovoltaic panels 700;

[0056] Photovoltaic module 20. DETAILED DESCRIPTION

[0057] In order to make the above-mentioned purposes, features and advantages of the present application more obvious and easy to understand, the specific implementation methods of the present application are described in detail below in conjunction with the accompanying drawings. In the following description, many specific details are set forth to facilitate a full understanding of the present application. However, the present application can be implemented in many other ways different from those described herein, and those skilled in the art can make similar improvements without violating the connotation of the present application, so the present application is not limited by the specific embodiments disclosed below.

[0058] In the description of the present application, it should be understood that if the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc. appear, the orientation or position relationship indicated by these terms is based on the orientation or position relationship shown in the accompanying drawings, which is only for the convenience of describing the present application and simplifying the description, and does not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present application.

[0059] In addition, if the terms "first" or "second" appear, these terms are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Therefore, a feature defined as "first" or "second" may explicitly or implicitly include at least one of the features. In the description of this application, if the term "plurality" appears, the meaning of "plurality" is at least two, such as two, three, etc., unless otherwise clearly and specifically defined.

[0060] In this application, unless otherwise clearly specified and limited, if the terms "installed", "connected", "connected", "fixed" and the like appear, these terms should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integrated connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements, unless otherwise clearly defined. For ordinary technicians in this field, the specific meanings of the above terms in this application can be understood according to the specific circumstances.

[0061] In the present application, unless otherwise clearly specified and limited, if there is a description that a first feature is "above" or "below" a second feature, etc., or similar descriptions appear, it may mean that the first and second features are in direct contact, or that the first and second features are in indirect contact through an intermediate medium. Moreover, the first feature being "above", "above" and "above" the second feature may mean that the first feature is directly above or obliquely above the second feature, or simply means that the first feature is higher in level than the second feature. The first feature being "below", "below" and "below" the second feature may mean that the first feature is directly below or obliquely below the second feature, or simply means that the first feature is lower in level than the second feature.

[0062] It should be noted that if an element is referred to as being "fixed to" or "disposed on" another element, it may be directly on the other element or there may be a central element. If an element is considered to be "connected to" another element, it may be directly connected to the other element or there may be a central element at the same time. If any, the terms "vertical", "horizontal", "upper", "lower", "left", "right" and similar expressions used in this application are for illustrative purposes only and do not represent the only implementation method.

[0063] See also Figure 1 , Figure 2 , Figure 1A schematic diagram of the structure of a photovoltaic cleaning robot in an embodiment of the present application is shown. A photovoltaic cleaning robot 10 provided in an embodiment of the present application includes: a frame 100, a cleaning member 200, a first guide mechanism 300, a second guide mechanism 400 and at least one elastic buffer member 500, the cleaning member 200 is arranged on the frame 100, the first guide mechanism 300 is arranged on one side of the frame 100 along a first direction, the first guide mechanism 300 includes at least one first guide wheel 310, the first guide wheel 310 is rotatably connected to the frame 100, the rotation axis of the first guide wheel 310 is parallel to the second direction, and the first direction is parallel to the second direction. The second guide mechanism 400 is arranged to intersect with the frame 100 along the first direction, and the second guide mechanism 400 is arranged on the other side of the frame 100 along the first direction. The second guide mechanism 400 includes at least one climbing member 410, and the climbing member 410 is connected to the frame 100 by rotation around an axis parallel to the second direction. The climbing member 410 is configured to: rotate relative to the frame 100 under the action of an obstacle, and at least one elastic buffer member 500 is arranged on the frame 100, and the elastic buffer member 500 is configured to: be elastically deformed under the rotation of the climbing member 410 and apply elastic force to the climbing member 410.

[0064] See also Figure 6 In the photovoltaic cleaning robot 10 of this embodiment, the first guide wheel 310 in the first guide mechanism 300 and the climbing member 410 in the second guide mechanism 400 are in contact with the frames of the photovoltaic component 20 on two opposite sides in the first direction respectively. During the process of the photovoltaic cleaning robot 10 cleaning the photovoltaic component 20, the frame 100 moves relative to the photovoltaic component 20, and drives the first guide wheel 310 and the climbing member 410 to move along the corresponding frames respectively. The cleaning member 200 arranged on the frame 100 moves relative to the photovoltaic component 20 to clean any area on the surface of the side of the photovoltaic component 20 that receives light, and cleans the dirt on the surface of the side of the photovoltaic component 20 that receives light.

[0065] See also Figure 7When the photovoltaic cleaning robot 10 moves between two photovoltaic modules 20 arranged in a staggered manner, and the second guide mechanism 400 encounters the step formed by the frames of the two photovoltaic modules 20 arranged in a staggered manner, the climbing member 410 rotates relative to the frame 100 around an axis parallel to the second direction under the push of the step to climb over the step formed by the frames of the two photovoltaic modules 20 arranged in a staggered manner. During this process, the frame 100 tilts, and the elastic buffer member 500 elastically deforms under the rotation of the climbing member 410, and applies elastic force to the climbing member 410, thereby increasing the contact force between the climbing member 410 and the step formed by the frames of the two photovoltaic modules 20 arranged in a staggered manner, pressing the climbing member 410 and the step formed by the frames of the two photovoltaic modules 20 arranged in a staggered manner together, and increasing the ability of the climbing member 410 to climb over the step formed by the frames of the two photovoltaic modules 20 arranged in a staggered manner, until the climbing member 410 climbs over the step formed by the frames of the two photovoltaic modules 20 arranged in a staggered manner.

[0066] See also Figure 8 When the photovoltaic cleaning robot 10 moves between two photovoltaic components 20 arranged in an offset manner, and the climbing member 410 of the second guide mechanism 400 falls from the step formed by the frames of the two photovoltaic components 20 arranged in an offset manner, the frame of the photovoltaic component 20 located in the falling direction of the climbing member 410 in the first direction of the two photovoltaic components 20 forming the step pushes the climbing member 410 to rotate relative to the frame 100 around an axis parallel to the second direction, and the elastic buffer 500 is elastically deformed under the rotation of the climbing member 410 and applies an elastic force to the climbing member 410. Under the elastic force of the elastic buffer 500, the photovoltaic component 20 located in the falling direction of the climbing member 410 pushes the climbing member 410 to rotate slowly relative to the frame 100, and the contact time between the climbing member 410 and the frame of the photovoltaic component 20 located in the falling direction of the climbing member 410 in the first direction increases. When the climbing member 410 falls from the step formed by the frames of two staggered photovoltaic modules 20, the impact on the photovoltaic modules 20 located in the falling direction of the climbing member 410 is reduced, thereby reducing the risk of damage to the photovoltaic modules 20 located in the falling direction of the climbing member 410 and improving the service life of the photovoltaic modules 20.

[0067] To sum up, the photovoltaic cleaning robot 10 in this embodiment is connected to the frame 100 by rotating the climbing member 410 around an axis parallel to the second direction. The elastic buffer member 500 is elastically deformed under the rotation of the climbing member 410 and applies elastic force to the climbing member 410, thereby improving the ability of the photovoltaic cleaning robot 10 to pass through the steps formed by the frames of two staggered photovoltaic components 20, reducing the impact of the photovoltaic cleaning robot 10 on the photovoltaic component 20 when falling from the steps formed by the frames of two staggered photovoltaic components 20, and improving the service life of the photovoltaic component 20.

[0068] In addition, it should be noted that since the photovoltaic cleaning robot 10 in this embodiment completely relies on the mechanical structure to climb over the steps formed by the frames of two staggered photovoltaic modules 20, the use of the photovoltaic cleaning robot 10 will not be restricted by the climate environment, and has a lower failure rate, longer service life and better quality.

[0069] See also Figures 1 to 3 In some embodiments, the climbing member 410 includes a swing arm 411 and a track assembly 412. The swing arm 411 extends along a third direction. Both the first direction and the second direction are arranged to intersect with the third direction. The swing arm 411 is connected to the frame 100 around an axis parallel to the second direction. The swing arm 411 is configured to rotate under the action of an obstacle. The track assembly 412 is arranged on the swing arm 411. The track assembly 412 is configured to drive the frame 100 to move along the extension direction of the swing arm 411. The elastic buffer 500 is configured to be elastically deformed under the rotation of the swing arm 411 and apply elastic force to the swing arm 411.

[0070] See also Figure 6 In this embodiment, the photovoltaic cleaning robot 10 moves relative to the photovoltaic component 20 along the X direction and cleans the dirt on the surface of the photovoltaic component 20, wherein the X direction is the extension direction of the frame located on the opposite sides of the photovoltaic component 20 along the first direction. When the second guide mechanism 400 in the photovoltaic cleaning robot 10 encounters a step formed by the misaligned arrangement of the photovoltaic component 20 and another photovoltaic component 20, the track group 412 in the second guide mechanism 400 is subjected to the thrust exerted by the step, and the thrust is transmitted to the swing arm 411 through the track group 412, and the swing arm 411 is pushed to rotate relative to the frame 100 around an axis parallel to the second direction. Driven by the swing arm 411, the track group 412 is tilted around an axis parallel to the second direction and climbs over the step formed by the frames of the two misaligned photovoltaic components 20. Please refer to Figure 7 In the above process, the frame 100 tilts, and the elastic buffer 500 is elastically deformed under the rotation of the swing arm 411, and applies elastic force to the swing arm 411, thereby increasing the contact force between the track group 412 and the step formed by the frames of the two staggered photovoltaic components 20, pressing the track group 412 and the step formed by the frames of the two staggered photovoltaic components 20 together, and increasing the ability of the track group 412 to climb over the step formed by the frames of the two staggered photovoltaic components 20.

[0071] See also Figure 8When the second guide mechanism 400 falls from the step formed by the frames of the two staggered photovoltaic modules 20, the frames of the photovoltaic modules 20 in the first direction located in the falling direction of the climbing member 410 of the two photovoltaic modules 20 forming the step apply thrust to the track group 412 of the climbing member 410 in the second guide mechanism 400, and the thrust is transmitted to the swing arm 411 through the track group 412, and the swing arm 411 is pushed to rotate relative to the frame 100 around an axis parallel to the second direction. Driven by the swing arm 411, The track group 412 tilts around an axis parallel to the second direction. At the same time, the elastic buffer 500 is elastically deformed under the rotation of the swing arm 411 and applies an elastic force to the swing arm 411. Under the elastic force of the elastic buffer 500, the photovoltaic component 20 located in the falling direction of the climbing member 410 can only push the swing arm 411 to rotate slowly relative to the frame 100, and the contact time between the climbing member 410 and the frame of the photovoltaic component 20 located in the falling direction of the climbing member 410 in the first direction is increased.

[0072] See also Figures 1 to 3 In some embodiments, the track group 412 includes a driving wheel 412-1, a driven wheel 412-2 and a synchronous belt 412-3. The driving wheel 412-1 and the driven wheel 412-2 are arranged along a third direction, the driving wheel 412-1 is connected to the frame 100, the rotation axis of the driving wheel 412-1 coincides with the rotation axis of the swing arm 411, the driven wheel 412-2 is rotationally connected to the swing arm 411, the rotation axis of the driven wheel 412-2 is parallel to the rotation axis of the driving wheel 412-1, and the synchronous belt 412-3 is wound around the driving wheel 412-1 and the driven wheel 412-2.

[0073] See also Figure 6 In this embodiment, when the photovoltaic cleaning robot 10 moves relative to the photovoltaic module 20 along the X direction, the driving wheel 412-1 of the crawler group 412 rotates relative to the frame 100 around its own rotation axis, and drives the synchronous belt 412-3 to move. The synchronous belt 412-3 contacts the frame of the photovoltaic module 20 along one side of the first direction and slides and rubs with the corresponding frame. Please refer to Figure 7When the photovoltaic cleaning robot 10 climbs over the step formed by the frames of the two staggered photovoltaic modules 20, the synchronous belt 412-3 of the track group 412 is subjected to the thrust exerted by the step, and the thrust is transmitted to the driven wheel 412-2 through the synchronous belt 412-3, and then transmitted to the swing arm 411 from the driven wheel 412-2, and pushes the swing arm 411 to rotate relative to the frame 100 around an axis parallel to the second direction. Driven by the swing arm 411, the track group 412 tilts around an axis parallel to the second direction, and the driving wheel 412-1 of the track group 412 continues to drive the synchronous belt 412-3 to move. The synchronous belt 412-3 contacts the step formed by the frames of the two staggered photovoltaic modules 20, and drives the photovoltaic cleaning robot 10 to climb over the step along the extension direction of the swing arm 411 at this time.

[0074] See also Figure 8 When the second guide mechanism 400 in the photovoltaic cleaning robot 10 falls from the step formed by the frames of two staggered photovoltaic components 20, among the two photovoltaic components 20 forming the step, the frame of the photovoltaic component 20 in the falling direction of the climbing member 410 in the second guide mechanism 400 in the first direction applies thrust to the synchronous belt 412-3 of the track group 412 in the climbing member 410, and the thrust is transmitted to the driven wheel 412-2 through the synchronous belt 412-3, and then transmitted to the swing arm 411 from the driven wheel 412-2, and pushes the swing arm 411 to rotate relative to the frame 100 around an axis parallel to the second direction. Driven by the swing arm 411, the track group 412 tilts around an axis parallel to the second direction. At the same time, the elastic buffer 500 is elastically deformed under the rotation of the swing arm 411 and applies an elastic force to the swing arm 411. Under the elastic force of the elastic buffer 500, the photovoltaic component 20 located in the falling direction of the climbing member 410 can only push the swing arm 411 to rotate slowly relative to the frame 100, and the contact time between the synchronous belt 412-3 of the track group 412 in the climbing member 410 and the frame of the photovoltaic component 20 located in the falling direction of the climbing member 410 in the first direction is increased.

[0075] See also Figures 1 to 3 In some embodiments, the outer diameter of the driven wheel 412 - 2 is smaller than the outer diameter of the driving wheel 412 - 1 , and the synchronous belt 412 - 3 is configured to drive the swing arm 411 to rotate relative to the frame 100 under the push of an obstacle.

[0076] See also Figure 6In this embodiment, by setting the outer diameter of the driven wheel 412-2 to be smaller than the outer diameter of the driving wheel 412-1, the portion of the synchronous belt 412-3 located on the outer periphery of the driving wheel 412-1 contacts the frame of the photovoltaic component 20 on one side in the first direction, while the portion of the synchronous belt 412-3 located on the outer periphery of the driven wheel 412-2 is arranged at intervals with the frame of the photovoltaic component 20 on one side in the first direction, so that when the photovoltaic cleaning robot 10 climbs over the steps formed by the frames of two staggered photovoltaic components 20, the step applies a thrust to the synchronous belt 412-3 from between the portion of the synchronous belt 412-3 located on the outer periphery of the driven wheel 412-2 and the frame of the photovoltaic component 20 on one side in the first direction, thereby improving the ability of the photovoltaic cleaning robot 10 to climb over the steps.

[0077] In some embodiments, a plurality of auxiliary wheels (not shown) are provided between the driven wheel 412-2 and the driving wheel 412-1. The plurality of auxiliary wheels are arranged along the extension direction of the swing arm 411. Each auxiliary wheel is rotatably connected to the swing arm 411. The rotation axis of the auxiliary wheel is parallel to the rotation axis of the driven wheel 412-2. From the direction from the driven wheel 412-2 to the driving wheel 412-1, the outer diameter of the auxiliary wheel gradually decreases. The synchronous belt 412-3 is wound around the driving wheel 412-1, the driven wheel 412-2 and the plurality of auxiliary wheels.

[0078] See also Figures 1 to 3 In some embodiments, a plurality of mounting holes (not shown) are provided on the swing arm 411, and the plurality of mounting holes are arranged along the extension direction of the swing arm 41, and each mounting hole penetrates the swing arm 411 along the second direction. The driven wheel 412-2 is assembled in any mounting hole and is configured to rotate around the axis of the corresponding mounting hole.

[0079] In this embodiment, by assembling the driven wheel 412-2 with different mounting holes, on the one hand, the angle between the synchronous belt 412-3 and the photovoltaic component 20 on the side close to the photovoltaic component 20 can be adjusted, thereby meeting the requirements of the photovoltaic cleaning robot 10 climbing over steps of different heights; on the other hand, the tension of the synchronous belt 412-3 can be adjusted.

[0080] See also Figures 1 to 3 In some embodiments, the climbing member 410 includes a driving member 413, a fixed end of the driving member 413 is disposed on the frame 100, a driving end of the driving member 413 is connected to the driving wheel 412-1, and the driving member 413 is configured to drive the driving wheel 412-1 to rotate around its own axis.

[0081] In this embodiment, the driving member 413 in the climbing member 410 drives the driving wheel 412 - 1 in the track assembly 412 to move around its own axis, and the rotating driving wheel 412 - 1 drives the synchronous belt 412 - 3 to move, so that the synchronous belt 412 - 3 is in frictional contact with the frame of the photovoltaic component 20 .

[0082] See also Figures 1 to 3 In some embodiments, the climbing member 410 includes a lever 414, which extends along the second direction. The lever 414 is arranged on one side of the swing arm 411 along the second direction. The lever 414 is configured to make a circular motion around the rotation axis of the swing arm 411 under the drive of the swing arm 411. The fixed end of the elastic buffer 500 is arranged on the frame 100, and the free end of the elastic buffer 500 is located on the movement trajectory of the lever 414, and is configured to be elastically deformed under the push of the lever 414.

[0083] In this embodiment, when the swing arm 411 rotates relative to the frame 100 around an axis parallel to the second direction under the action of external force, the lever 414, driven by the swing arm 411, makes a circular motion around the rotation axis of the swing arm 411. At the same time, the free end of the elastic buffer 500 located on the movement trajectory of the lever 414 is elastically deformed under the push of the lever 414, and the elastically deformed elastic buffer 500 applies an elastic force to the lever 414.

[0084] In some embodiments, the elastic buffer 500 includes a mounting shaft 510 and a torsion spring 520, wherein the mounting shaft 510 extends along the second direction, the mounting shaft 510 is disposed on the frame 100, and the torsion spring 520 is sleeved on the outer periphery of the mounting shaft 510, and the torsion spring 520 is configured to apply elastic force to the lever 414. Optionally, a volute spring is used to replace the torsion spring 520.

[0085] See also Figure 3 and Figure 4 In some embodiments, the second guide mechanism 400 includes two climbing members 410 arranged along a third direction, and the driven wheel 412-2 in each climbing member 410 is located on the side of the driving wheel 412-1 in the climbing member 410 away from the other climbing member 410 along the third direction. The photovoltaic cleaning robot 10 includes two elastic buffer members 500, and the two elastic buffer members 500 are arranged corresponding to the two climbing members 410. Each elastic buffer member 500 is configured to: undergo elastic deformation under the rotation of the swing arm 411 in the corresponding climbing member 410, and apply elastic force to the corresponding swing arm 411.

[0086] See also Figure 7 In this embodiment, when the photovoltaic cleaning robot 10 encounters a step formed by the frames of two staggered photovoltaic components 20, and one of the two climbing components 410 climbs over the step formed by the frames of the two staggered photovoltaic components 20, the other climbing component 410 serves as a supporting force mechanism.

[0087] The photovoltaic assembly 20 in contact with the track group 412 of the other climbing member 410 applies a thrust to the track group 412 of the other climbing member 410, and the thrust is transmitted to the swing arm 411 of the other climbing member 410 through the track group 412 of the other climbing member 410, and pushes the swing arm 411 of the other climbing member 410 to rotate relative to the frame 100 around an axis parallel to the second direction. Driven by the swing arm 411 of the other climbing member 410, the track group 412 of the other climbing member 410 tilts around an axis parallel to the second direction. During the above process, the frame 100 tilts, and the swing arm 411 of the other climbing member 410 causes the corresponding elastic buffer member 500 to be elastically deformed. The elastically deformed elastic buffer member 500 applies elastic force to increase the contact force between the track group 412 of the other climbing member 410 and the frame of the corresponding photovoltaic component 20, so that when the other climbing member 410 climbs over the step formed by the frames of two staggered photovoltaic components 20, the track group 412 of the other climbing member 410 is pressed together with the step formed by the frames of two staggered photovoltaic components 20, thereby increasing the ability of the track group 412 of the other climbing member 410 to climb over the step formed by the frames of two staggered photovoltaic components 20.

[0088] See also Figure 1 and Figure 5 In some embodiments, the photovoltaic cleaning robot 10 includes two walking mechanisms 600 arranged along a first direction, and the walking mechanisms 600 are located between the first guide mechanism 300 and the second guide mechanism 400. The walking mechanism 600 includes at least one walking wheel 610, and the walking wheel 610 is rotatably connected to the frame 100. The walking wheel 610 is configured to rotate around its own axis, and the axis of the walking wheel 610 is parallel to the first direction.

[0089] In this embodiment, the photovoltaic cleaning robot 10, the first guide wheel 310 in the first guide mechanism 300 and the climbing member 410 in the second guide mechanism 400 in this embodiment are in contact with the frame of the photovoltaic component 20 on both sides opposite to each other in the first direction respectively. During the process of the photovoltaic cleaning robot 10 cleaning the photovoltaic component 20, the walking wheel 610 of each walking mechanism 600 rotates around its own axis and rolls forward on the surface of the photovoltaic component 20 on the side receiving light. The frame 100 moves relative to the photovoltaic component 20 driven by the walking wheel 610, and drives the first guide wheel 310 and the climbing member 410 to move along the corresponding frame respectively. The cleaning member 200 arranged on the frame 100 moves relative to the photovoltaic component 20 to clean any area on the surface of the photovoltaic component 20 on the side receiving light, and cleans the dirt on the surface of the photovoltaic component 20 on the side receiving light.

[0090] In some embodiments, the traveling mechanism 600 includes a plurality of traveling wheels 610 arranged along a third direction.

[0091] In some embodiments, the walking mechanism 600 includes a transmission box 620, which is disposed on the frame 100, and the walking wheel 610 is rotatably connected to the transmission box 620. A driving assembly (not shown) is provided in the transmission box 620, and the driving end of the driving assembly is connected to any walking wheel 610. The driving assembly is configured to drive the corresponding walking wheel 610 to rotate.

[0092] In some embodiments, the photovoltaic cleaning robot 10 includes a photovoltaic panel 700 , which is disposed on the frame 100 , and the driving member 413 and the driving assembly are both electrically connected to the photovoltaic panel 700 .

[0093] The present application also proposes a photovoltaic cleaning system (not shown), comprising the photovoltaic cleaning robot 10 described above.

[0094] See also Figure 6 In the photovoltaic cleaning system of this embodiment, the first guide wheel 310 in the first guide mechanism 300 and the climbing member 410 in the second guide mechanism 400 are in contact with the frames of the photovoltaic component 20 on opposite sides in the first direction respectively. During the process of the photovoltaic cleaning robot 10 cleaning the photovoltaic component 20, the frame 100 moves relative to the photovoltaic component 20, and drives the first guide wheel 310 and the climbing member 410 to move along the corresponding frames respectively. The cleaning member 200 arranged on the frame 100 moves relative to the photovoltaic component 20 to clean any area on the surface of the side of the photovoltaic component 20 that receives light, and cleans the dirt on the surface of the side of the photovoltaic component 20 that receives light.

[0095] See also Figure 7 When the photovoltaic cleaning robot 10 moves between two photovoltaic modules 20 arranged in a staggered manner, and the second guide mechanism 400 encounters the step formed by the frames of the two photovoltaic modules 20 arranged in a staggered manner, the climbing member 410 rotates relative to the frame 100 around an axis parallel to the second direction under the push of the step to climb over the step formed by the frames of the two photovoltaic modules 20 arranged in a staggered manner. During this process, the frame 100 tilts, and the elastic buffer member 500 elastically deforms under the rotation of the climbing member 410, and applies elastic force to the climbing member 410, thereby increasing the contact force between the climbing member 410 and the step formed by the frames of the two photovoltaic modules 20 arranged in a staggered manner, pressing the climbing member 410 and the step formed by the frames of the two photovoltaic modules 20 arranged in a staggered manner together, and increasing the ability of the climbing member 410 to climb over the step formed by the frames of the two photovoltaic modules 20 arranged in a staggered manner, until the climbing member 410 climbs over the step formed by the frames of the two photovoltaic modules 20 arranged in a staggered manner.

[0096] See also Figure 8When the photovoltaic cleaning robot 10 moves between two photovoltaic components 20 arranged in an offset manner, and the climbing member 410 of the second guide mechanism 400 falls from the step formed by the frames of the two photovoltaic components 20 arranged in an offset manner, the frame of the photovoltaic component 20 located in the falling direction of the climbing member 410 in the first direction of the two photovoltaic components 20 forming the step pushes the climbing member 410 to rotate relative to the frame 100 around an axis parallel to the second direction, and the elastic buffer 500 is elastically deformed under the rotation of the climbing member 410 and applies an elastic force to the climbing member 410. Under the elastic force of the elastic buffer 500, the photovoltaic component 20 located in the falling direction of the climbing member 410 pushes the climbing member 410 to rotate slowly relative to the frame 100, and the contact time between the climbing member 410 and the frame of the photovoltaic component 20 located in the falling direction of the climbing member 410 in the first direction increases. When the climbing member 410 falls from the step formed by the frames of two staggered photovoltaic modules 20, the impact on the photovoltaic modules 20 located in the falling direction of the climbing member 410 is reduced, thereby reducing the risk of damage to the photovoltaic modules 20 located in the falling direction of the climbing member 410 and improving the service life of the photovoltaic modules 20.

[0097] To summarize, the photovoltaic cleaning system in the present embodiment is connected to the frame 100 by rotating the climbing member 410 around an axis parallel to the second direction. The elastic buffer member 500 is elastically deformed under the rotation of the climbing member 410 and applies elastic force to the climbing member 410, thereby improving the ability of the photovoltaic cleaning robot 10 to pass through the steps formed by the frames of two staggered photovoltaic components 20, reducing the impact of the photovoltaic cleaning robot 10 on the photovoltaic component 20 when falling from the steps formed by the frames of two staggered photovoltaic components 20, and improving the service life of the photovoltaic component 20.

[0098] The technical features of the above-described embodiments may be arbitrarily combined. To make the description concise, not all possible combinations of the technical features in the above-described embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0099] The above-described embodiments only express several implementation methods of the present application, and the descriptions thereof are relatively specific and detailed, but they cannot be construed as limiting the scope of the patent application. It should be pointed out that, for a person of ordinary skill in the art, several variations and improvements can be made without departing from the concept of the present application, and these all belong to the protection scope of the present application. Therefore, the protection scope of the patent application shall be subject to the attached claims.

Claims

1. A photovoltaic cleaning robot, characterized in that: The photovoltaic cleaning robot comprises: frame; A cleaning member, disposed on the frame; A first guide mechanism is arranged at one side of the frame along the first direction, the first guide mechanism comprises at least one first guide wheel, the first guide wheel is rotatably connected to the frame, a rotation axis of the first guide wheel is parallel to the second direction, and the first direction and the second direction are arranged to intersect; a second guide mechanism, arranged at the other side of the frame along the first direction, the second guide mechanism comprising at least one climbing member, the climbing member being rotatably connected to the frame around an axis parallel to the second direction, the climbing member being configured to rotate relative to the frame under the action of an obstacle; At least one elastic buffer is disposed on the frame, and the elastic buffer is configured to be elastically deformed under the rotation of the climbing member and apply elastic force to the climbing member.

2. The photovoltaic cleaning robot according to claim 1, characterized in that: The climbing member comprises a swing arm and a crawler track assembly; The swing arm extends along a third direction, the first direction and the second direction are both arranged to intersect the third direction, the swing arm is connected to the frame around an axis parallel to the second direction, and the swing arm is configured to rotate under the action of the obstacle; The track assembly is arranged on the swing arm, and the track assembly is configured to drive the frame to move along the extension direction of the swing arm. The elastic buffer is configured to be elastically deformed under the rotation of the swing arm and apply elastic force to the swing arm.

3. The photovoltaic cleaning robot according to claim 2, characterized in that: The crawler track assembly includes a driving wheel, a driven wheel and a synchronous belt; The driving wheel and the driven wheel are arranged along the third direction, the driving wheel is connected to the frame, the rotation axis of the driving wheel coincides with the rotation axis of the swing arm, the driven wheel is rotationally connected to the swing arm, and the rotation axis of the driven wheel is parallel to the rotation axis of the driving wheel; The synchronous belt is wound around the driving wheel and the driven wheel.

4. The photovoltaic cleaning robot according to claim 3, characterized in that: The outer diameter of the driven wheel is smaller than the outer diameter of the driving wheel; The synchronous belt is configured to drive the swing arm to rotate relative to the frame under the push of the obstacle.

5. The photovoltaic cleaning robot according to claim 3, characterized in that: The swing arm is provided with a plurality of mounting holes, the plurality of mounting holes are arranged along the extension direction of the swing arm, and each of the mounting holes penetrates the swing arm along the second direction; The driven wheel is mounted on any of the mounting holes and is configured to rotate around the axis of the corresponding mounting hole.

6. The photovoltaic cleaning robot according to claim 3, characterized in that: The climbing member comprises a driving member, a fixed end of which is arranged on the frame, a driving end of which is connected to the driving wheel, and the driving member is configured to drive the driving wheel to rotate around its own axis.

7. The photovoltaic cleaning robot according to claim 2, characterized in that: The climbing member includes a lever, the lever extending along the second direction, the lever being arranged on one side of the swing arm along the second direction, and the lever being configured to perform circular motion around a rotation axis of the swing arm under the drive of the swing arm; The fixed end of the elastic buffer is arranged on the frame, and the free end of the elastic buffer is located on the movement track of the shifting rod and is configured to be elastically deformed under the push of the shifting rod.

8. The photovoltaic cleaning robot according to claim 2, characterized in that: The second guiding mechanism comprises two climbing members arranged along the third direction, and the driven wheel in each climbing member is located on a side of the driving wheel in the climbing member away from the other climbing member along the third direction; The photovoltaic cleaning robot comprises two elastic buffers, which are arranged corresponding to the two climbing members, and each elastic buffer is configured to undergo elastic deformation under the rotation of the swing arm in the corresponding climbing member and apply elastic force to the corresponding swing arm.

9. The photovoltaic cleaning robot according to claim 1, characterized in that: The photovoltaic cleaning robot comprises two walking mechanisms arranged along the first direction, and the walking mechanisms are both located between the first guide mechanism and the second guide mechanism; The walking mechanism comprises at least one walking wheel, the walking wheel is rotatably connected to the frame, the walking wheel is configured to rotate around its own axis, and the axis of the walking wheel is parallel to the first direction.

10. A photovoltaic cleaning system, characterized in that: A photovoltaic cleaning robot comprising any one of claims 1 to 9.

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