Robot and photovoltaic panel cleaning system

Abstract

The invention provides a cleaning robot and a photovoltaic panel cleaning robot, and the cleaning robot comprises a vehicle frame which is in a long strip shape; the two driving wheel groups are rotatably mounted at the two ends of the bottom surface of the frame respectively; each driving wheel set comprises two driving wheels which are the same in size and rotate synchronously. And the more than two guide wheel groups are mounted on the side wall of the frame, and each guide wheel group is arranged opposite to one driving wheel. The rail type cleaning robot has the advantages that the guide wheel sets are installed on the left side and the right side of the rail type cleaning robot, the vehicle body is effectively widened, the number of powered wheels is effectively increased, the stability of the robot in the advancing process is effectively improved, and the cleaning robot can span wide photovoltaic panel array gaps.

Description

Technical Field

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

[0002] Photovoltaic panels use the voltaic effect of semiconductor materials under light conditions to directly convert solar energy into electrical energy. To ensure power generation efficiency, photovoltaic panels need to be tilted at a certain angle relative to the horizontal plane. Photovoltaic panels are installed outdoors, so dust or other attachments are easily accumulated on the surface of the panels, resulting in reduced power generation efficiency of photovoltaic panels.

[0003] Multiple photovoltaic panels are closely connected to each other and can be combined into a photovoltaic panel array. In the prior art, there is a track-type cleaning robot that can cross the top and bottom of the photovoltaic panel array at the same time, using the photovoltaic panel array as a track, moving and cleaning in a horizontal direction, and can clean from one end of the photovoltaic panel array to the other.

[0004] However, the installation site of photovoltaic panel arrays is usually a huge outdoor venue with an uneven surface. Therefore, the horizontal length of an independent photovoltaic panel array is usually limited. There will be an array gap of a certain width (usually less than 50 cm) between two adjacent panel arrays arranged in the same straight line. The two adjacent panel arrays may not be on the same plane, and there will be a certain height difference (usually less than 10 cm) and / or angle difference (usually less than 10°) between them.

[0005] In such a scenario, the track-mounted cleaning robot needs to be able to cross the gaps in the array to ensure the continuity of the cleaning work, thereby improving work efficiency and cleaning results.

[0006] In order to save energy and increase the robot's battery life, and also to reduce cleaning blind spots and improve cleaning effects, the existing track-type cleaning robots are usually lightweight in design, with a width of only 30 to 60 cm. There is usually only one drive wheel at the top and bottom of the robot. Robots with this structure find it difficult to cross wider array gaps. Summary of the invention

[0007] The present invention provides a robot for solving the technical problem that the gap between photovoltaic panel arrays is wide and it is difficult for the robot to cross.

[0008] In order to solve the above technical problems, the present invention discloses the following technical solutions: The present invention provides a cleaning robot, comprising: a frame, which is in the shape of an elongated strip; two driving wheel groups, which are rotatably mounted on the two ends of the bottom surface of the frame respectively; each driving wheel group comprises two driving wheels of the same size and rotating synchronously; and more than two guide wheel groups, which are mounted on the side walls of the frame, and each guide wheel group is arranged opposite to a driving wheel.

[0009] Furthermore, the vehicle frame includes: a plate-shaped frame; and two drive boxes, which are respectively fixed to two ends of the plate-shaped frame.

[0010] Furthermore, the frame includes a first buffer wheel group fixed to the bottom surface of a drive box; each first buffer wheel group includes more than two buffer wheels, and the central axis of the axle of each buffer wheel is perpendicular to the plane where the central axes of the axles of the two drive wheels are located.

[0011] Furthermore, each driving box includes: a first box body side wall and a second box body side wall that are arranged opposite to each other, and the upper part of the first box body side wall is fixed to the plate-like frame; a motor, the motor includes a power output shaft passing through the middle part of the first box body side wall; the axles of two driving wheels of a driving wheel group pass through the lower part of the first box body side wall; a first gear is fixed to the power output shaft; a second gear and a third gear are respectively fixed to the axles of the two driving wheels; and a first annular gear chain is meshed with the first gear, the second gear and the third gear; wherein the first gear, the second gear, the third gear and the first annular gear chain are located in the driving box; the motor and the two driving wheels are installed to the outside of the driving box.

[0012] Furthermore, the cleaning robot also includes a roller brush, including a roller brush shaft and bristles, and both ends of the roller brush shaft are rotatably mounted to two drive boxes.

[0013] Furthermore, the cleaning robot also includes: a fourth gear, fixed to one end of the roller brush shaft, the fourth gear being located in a drive box; the fourth gear being meshed with a first annular gear chain in the drive box; and a fifth gear, fixed to the power output shaft and meshed with the fourth gear.

[0014] Furthermore, each of the guide wheel groups includes: an arm, one end of which is a fixed end, detachably connected to a side wall of the frame, and the other end of which is a free end, extending forward or backward; a driven wheel, which is rotatably mounted below the middle of the arm; and a guide wheel, which is rotatably mounted to the free end of the arm; wherein the driven wheel, the guide wheel, and the two driving wheels of a driving wheel group are arranged in the same straight line, and the driven wheel and the driving wheel adjacent to it are driven synchronously.

[0015] Further, the height of the axle of the driven wheel is greater than the height of the axle of the driving wheel; and / or the height of the axle of the guide wheel is greater than the height of the axle of the driven wheel.

[0016] Furthermore, the cleaning robot also includes: a buffer bracket, including a strip mounting plate and at least one bent plate, one end of each bent plate is connected to the strip mounting plate, and the other end is connected to an arm; a second buffer wheel group, fixed to the bottom surface of the strip plate; the second buffer wheel group includes more than two buffer wheels, and the central axis of the wheel axle of each buffer wheel is perpendicular to the plane where the central axis of the wheel axle of the two driving wheels is located.

[0017] Furthermore, each guide wheel group also includes: a sixth gear fixed to the axle of a driving wheel; a seventh gear fixed to the axle of a driven wheel adjacent to the driving wheel; and a second annular gear chain meshing with the sixth gear and the sixth gear.

[0018] Furthermore, the cleaning robot also includes: at least one auxiliary wheel group, rotatably mounted to the middle part of the bottom surface of the frame; each auxiliary wheel group includes at least one auxiliary wheel, and the size of each auxiliary wheel is consistent with the driving wheel; more than two guide wheel groups are mounted to the side walls of the frame, and each guide wheel group is arranged opposite to an auxiliary wheel.

[0019] In order to solve the technical problem that the gaps between photovoltaic panel arrays are wide and difficult for robots to cross, the present invention provides a photovoltaic panel cleaning system, including a photovoltaic panel array and a cleaning robot as described above, wherein the cleaning robot can move on the upper surface of the photovoltaic panel array.

[0020] Compared with the prior art, the present invention has at least the following technical effects: The present invention provides a cleaning robot for cleaning a photovoltaic panel array. Guide wheel groups are installed on the left and right sides of the track-type cleaning robot to effectively widen the vehicle body, effectively increase the number of powered wheels, and effectively improve the stability of the robot during movement, so that the cleaning robot can cross a wider gap in the photovoltaic panel array. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] The technical solution of the present invention is described in detail below in conjunction with the accompanying drawings and specific embodiments.

[0022] Figure 1 This is a schematic diagram of the structure of a photovoltaic panel cleaning system according to an embodiment of the present invention; Figure 2 This is a schematic diagram of the structure of the top of the cleaning robot according to an embodiment of the present invention; Figure 3 This is a schematic diagram of the structure of the bottom of the cleaning robot according to an embodiment of the present invention; Figure 4 It is a schematic diagram of the local structure of the top end of the frame at a first angle according to an embodiment of the present invention; Figure 5 It is a schematic diagram of the local structure of the top end of the frame at a second angle according to an embodiment of the present invention; Figure 6 It is a schematic diagram of the local structure of the bottom end of the frame at a first angle according to an embodiment of the present invention; Figure 7 It is a schematic diagram of the partial structure of the bottom end of the frame at a second angle according to an embodiment of the present invention; Figure 8 It is a schematic diagram of the partial structure of the bottom surface of the middle part of the frame according to an embodiment of the present invention; Fig. 9 It is a schematic diagram of the use state of the vehicle frame according to an embodiment of the present invention before crossing over the photovoltaic panel array; Fig.10 It is a schematic diagram of the use state of the frame according to the embodiment of the present invention in crossing the photovoltaic panel array; Fig.11 It is a schematic diagram of the use state of the vehicle frame according to the embodiment of the present invention after crossing the photovoltaic panel array; Fig.12 This is a schematic diagram of the overall structure of a cleaning robot according to another embodiment of the present invention.

[0023] The components in the figure are marked as follows: 1 cleaning robot, 2 photovoltaic panel array; 100 frame, 200 driving wheel set, 300 roller brush, 400 first guide wheel set, 500 second photovoltaic panel, 600 control box, 700 auxiliary wheel, 800 second guide wheel set; 110 plate-shaped frame, 120a first drive box, 120b second drive box; 121 first gear, 122 second gear, 123 third gear, 124 fourth gear, 125 fifth gear, 126 first box body side wall, 127 second box body side wall, 129 first annular tooth chain; 130 first buffer wheel set, 131 first buffer wheel; 140 buffer bracket, 141 strip mounting plate, 142 bent plate; 150 second buffer wheel set, 151 second buffer wheel, 210 motor, 220 driving wheel; 310 roller brush shaft, 320 bristles; 410 arm, 420 driven wheel, 430 guide wheel, 440 sixth gear, 450 seventh gear, 460 Second ring toothed chain. DETAILED DESCRIPTION

[0024] The technical solutions in the embodiments of the present invention will be described clearly and completely below in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative work are within the scope of protection of the present invention.

[0025] In the drawings, components with the same structure are indicated by the same numerical labels, and components with similar structures or functions are indicated by similar numerical labels. Directional terms mentioned in the present invention, such as up, down, front, back, left, right, inside, outside, upper surface, lower surface, side, top surface, bottom, front end, rear end, end, etc., are only directions in the drawings and are only used to explain and illustrate the present invention, but not to limit the scope of protection of the present invention.

[0026] In the drawings, components with the same structure are indicated by the same numerical reference numerals. When some components are described as being "on" another component, the component may be directly placed on the other component; there may also be an intermediate component on which the component is placed, and the intermediate component is placed on the other component. When a component is described as being "mounted to" or "connected to" another component, the two may be understood to be directly "mounted" or "connected", or one component may be indirectly "mounted to" or "connected to" another component through an intermediate component.

[0027] like Figure 1 As shown, the present invention provides a photovoltaic panel cleaning system, comprising a cleaning robot 1 and a photovoltaic panel array 2. The cleaning robot 1 can move along the horizontal direction on the upper surface of the photovoltaic panel array 2.

[0028] like Figure 2-3 As shown, this embodiment provides a cleaning robot 1, including a frame 100, two driving wheel groups 200, a roller brush 300 and a plurality of first guide wheel groups 400, each driving wheel group 200 includes two driving wheels 220 of the same size and rotating synchronously. A second photovoltaic panel 500 is provided at the upper end of the top surface of the frame 100, and a control box 600 is provided at the lower end.

[0029] The frame 100 is an elongated structure as a whole, extending from the top to the bottom of the photovoltaic panel array 2 . The frame 100 can move horizontally on the upper surface of the photovoltaic panel array 2 , and the moving direction of the frame 100 is perpendicular to the extension direction of the frame 100 .

[0030] like Figure 3As shown, the vehicle frame 100 includes a long plate-shaped frame 110 and two drive boxes 120a and 120b. The first drive box 120a is fixed to the top end of the plate-shaped frame 110, and the second drive box 120b is fixed to the bottom end of the plate-shaped frame 110.

[0031] like Figure 4 As shown, the roller brush 300 includes a roller brush shaft 310 and bristles 320. The two ends of the roller brush shaft 310 are rotatably mounted to two drive boxes 120a and 120b. When the cleaning robot 1 travels on the photovoltaic panel array 2, the ends of the bristles 320 contact the upper surface of the photovoltaic panel array 2.

[0032] like Figure 5 As shown, the first driving box 120a is provided with a first gear 121, a second gear 122, a third gear 123, a fourth gear 124, a fifth gear 125 and a first annular gear chain 129 inside; the first driving box 120a is provided with a motor 210 and two driving wheels 220 outside.

[0033] like Figure 5 As shown, each driving box 120 a or 120 b includes a first box body side wall 126 and a second box body side wall 127 that are oppositely disposed, and the upper portion of the first box body side wall 126 is fixed to the plate frame 110 .

[0034] like Figures 4 and 5 As shown, the motor 210 is fixed to the outer side of the first box body side wall 126. The motor 210 includes a power output shaft 211 that passes through the middle of the first box body side wall 126. The first gear 121 is fixedly installed at one end of the power output shaft 211 located in the first driving box 120a.

[0035] like Figure 3 As shown, the two driving wheel assemblies 200 are rotatably mounted to the top and bottom of the bottom surface of the frame 100; specifically, the two driving wheel assemblies 200 are respectively mounted to the first driving box 120a at the top of the frame 100 and the second driving box 120b at the bottom of the frame 100.

[0036] With the frame's traveling direction as the front, the two driving wheels 220 of each driving wheel set 200 are respectively arranged at the front end and the rear end of the frame 100, and the axles of the two driving wheels 220 respectively pass through the lower part of the first box body side wall 126 of a driving box 120a or 120b, and the connecting line of the axles of the two driving wheels 220 is parallel to the top surface of the plate frame 110.

[0037] like Figures 4 and 5As shown, one end of the roller brush shaft 310 passes through the first box body side wall 126 of the first driving box 120a, and the other end passes through the first box body side wall 126 of the second driving box 120b or is inserted into the blind hole on the outer surface of the first box body side wall 126 of the second driving box 120b.

[0038] like Figures 3-5 As shown, the second gear 122 and the third gear 123 are fixedly mounted on one end of the axles of the two driving wheels 220 located in the first driving box 120a.

[0039] like Figure 5 As shown, a fourth gear 124 is fixed to one end of the roller brush shaft 310 located in the first drive box 120a, and a fifth gear 125 is fixed to one end of the power output shaft 211 located in the first drive box 120a. The diameter of the fifth gear 125 is greater than the diameter of the first gear 121, and the fifth gear 125 is meshed with the fourth gear 124.

[0040] A first annular gear chain 129 is also provided in the first driving box 120a, meshing with the first gear 121, the second gear 122, the third gear 123 and the fourth gear 124. When the motor 210 is started, its power output shaft 211 drives the first gear 121 and the fifth gear 125 to rotate synchronously, and the second gear 122, the third gear 123 and the first gear 121 are driven to rotate synchronously through the first annular gear chain 129, thereby driving the two driving wheels 220 to rotate synchronously, and driving the frame 100 to move on the photovoltaic panel array 2. The diameters of the second gear 122 and the third gear 123 are 3-5 times that of the first gear 121, so the rotation speed of the two driving wheels 220 is 1 / 5-1 / 3 times that of the power output shaft 211 of the motor 210, so that the frame 100 can move slowly on the photovoltaic panel array 2 to improve the cleaning effect.

[0041] When the motor 210 is started, the fourth gear 124 is driven by the fifth gear 125 to rotate, thereby driving the roller brush 300 to rotate to clean the photovoltaic panel array 2. Since the diameter of the fifth gear 125 is 2-4 times that of the fourth gear 124, the rotation speed of the roller brush 300 is 2-4 times that of the driving wheel 220, so as to improve the cleaning effect.

[0042] like Figure 6 As shown, the second drive box 120b located at the bottom of the plate-shaped frame 110 has a similar structure to the first drive box 120a. The second drive box 120b is only provided with a first gear 121, a second gear 122, a third gear 123 and a first annular gear chain 129, but does not have a fourth gear 124 and a fifth gear 125. Since the roller brush shaft 310 is light in weight, it only needs to provide power at one end and the other end can rotate freely, so the fourth gear 124 and the fifth gear 125 do not need to be provided in the second drive box 120b.

[0043] like Figure 3 As shown, in this embodiment, the cleaning robot includes a plurality of first guide wheel groups 400, each of which is detachably mounted to the side wall of the frame 100, wherein four first guide wheel groups 400 are arranged opposite to the driving wheel 220. The first guide wheel groups 400 can be connected to the frame 100 by fasteners, and transportation and installation are simple and convenient.

[0044] like Figure 7 As shown, each first guide wheel set 400 includes an arm 410 , a driven wheel 420 and a guide wheel 430 , and also includes a sixth gear 440 , a seventh gear 450 and a second annular gear chain 460 .

[0045] One end of the arm 410 is a fixed end, which is detachably connected to a side wall of the frame 100, and the other end is a free end, which extends to the front or rear of the frame 100. The driven wheel 420 is rotatably mounted below the middle of the arm 410; the guide wheel 430 is rotatably mounted to the free end of the arm 410. The driven wheel 420 and the guide wheel 430 are arranged on the same straight line with two driving wheels 220 of a driving wheel set, and the driven wheel 420 and the adjacent driving wheel 220 are synchronously driven.

[0046] The sixth gear 440 is fixed to the axle of a driving wheel 220 away from the driving box; the seventh gear 450 is fixed to the axle of a driven wheel 420 adjacent to the driving wheel 220 away from the driving box; the second annular gear chain 460 meshes with the sixth gear 440 and the seventh gear 450, the sixth gear 440 and the seventh gear 450 have the same shape and size, and the driven wheel 420 has the same size as the driving wheel 220. When the motor 210 is started, the driving wheel 220 rotates, and the driven wheel 420 is driven by the second annular gear chain 460 to rotate synchronously with the driving wheel 220.

[0047] The height of the axle of the driven wheel 420 is greater than or equal to the height of the axle of the driving wheel 220; and / or, the height of the axle of the guide wheel 430 is greater than the height of the axle of the driven wheel 420. The diameter of the guide wheel 430 is slightly greater than that of the driven wheel 420, and the lowest point of the guide wheel 430 is slightly higher than the lowest point of the driven wheel 420.

[0048] like Figure 7 As shown, in this embodiment, the frame 100 further includes a first buffer wheel set 130 , a buffer bracket 140 and a second buffer wheel set 150 .

[0049] The first buffer wheel group 130 is fixed to the bottom surface of a driving box 120; each first buffer wheel group 130 includes more than two first buffer wheels 131, and the central axis of the wheel axle of each first buffer wheel 131 is perpendicular to the plane where the central axis of the wheel axles of the two driving wheels 220 are located.

[0050] like Figures 5 to 7 As shown, the vehicle frame 100 further includes a buffer bracket 140 , which includes a strip-shaped mounting plate 141 and at least one bent plate 142 . One end of each bent plate 142 is connected to the strip-shaped mounting plate 141 , and the other end thereof is connected to an arm 410 .

[0051] The frame 100 further includes a second buffer wheel set 150 fixed to the bottom surface of the strip mounting plate 141; the second buffer wheel set 150 includes more than two second buffer wheels 151, and the center axis of the wheel axle of each second buffer wheel 151 is perpendicular to the plane where the center axis of the wheel axles of the two driving wheels 220 are located. The second buffer wheels 151 and the first buffer wheels 131 are arranged on the same straight line.

[0052] The photovoltaic panel array 2 is composed of multiple photovoltaic panels, and each photovoltaic panel is covered with an aluminum alloy frame on all four sides. The two driving wheels 220 roll on the top or bottom of the upper surface of the photovoltaic panel array 2, and the first buffer wheel 131 and the second buffer wheel 151 roll on the side wall of the top or bottom of the photovoltaic panel array 2, thereby preventing the frame 100 from slipping off the photovoltaic panel.

[0053] In this embodiment, the frame 100 can span two photovoltaic panels at the same time. The plate-shaped frame 110 is relatively long, and the middle part thereof is easily affected by gravity and slightly sinks, resulting in a certain degree of deformation, thereby affecting the normal movement of the frame.

[0054] like Figure 8 As shown, in this embodiment, the cleaning robot 1 further includes an auxiliary wheel set, including two auxiliary wheels 700, which are rotatably mounted to the middle of the bottom surface of the frame 100, and the size of each auxiliary wheel 700 is consistent with the driving wheel 220. Under the action of the driving wheels 220 at both ends of the frame 100, the two auxiliary wheels 700 are driven by the frame 100 to roll, and can support the middle part of the frame 100.

[0055] The cleaning robot 1 further includes two second guide wheel groups 800, which are detachably mounted to the side walls of the front and rear sides of the frame 100, and each second guide wheel group 800 is arranged opposite to an auxiliary wheel 700. The structure of the second guide wheel group 800 is the same as that of the first guide wheel group 400, and will not be described in detail here. The second guide wheel group 800 can be connected to the frame 100 by fasteners, and transportation and installation are simple and convenient.

[0056] like Figures 9-11As shown, in this embodiment, during operation, the top and bottom ends of the cleaning robot 1 are respectively provided with a wheel group, each wheel group includes six wheels arranged in the same straight line, and the middle part of each wheel group is provided with two driving wheels 220a, 220b, and the front end of each wheel group is provided with a driven wheel 420a and a guide wheel 430a, and the rear end of the wheel group is provided with a driven wheel 420b and a guide wheel 430b, and the motor drives the two driving wheels 220a, 220b and the driven wheels 420a, 420b to rotate synchronously, and the four wheels in the middle are all powered. During the movement of the cleaning robot 1, in order to ensure that the driving power of the frame is sufficient, at least two of the four wheels must rotate on the upper surface of the photovoltaic panel array. A wheel group can also be provided in the middle part of the cleaning robot 1, including six wheels arranged in the same straight line, and the middle part is provided with two auxiliary wheels 700, and the front end of the wheel group is provided with a driven wheel 420a and a guide wheel 430a, and the rear end of the wheel group is provided with a driven wheel 420b and a guide wheel 430b.

[0057] When the frame is moving on a photovoltaic panel array, since the lowest points of the driven wheels 420 and the guide wheels 430 are higher than the lowest points of the driving wheels 220 or the auxiliary wheels 700, the two driving wheels 220 or the auxiliary wheels 700 are sufficient to ensure the stability of the frame 100 during movement, and the driven wheels 420 and the guide wheels 430 will not contact the upper surface of the photovoltaic panel array.

[0058] When the frame needs to span the gap between two photovoltaic panel arrays, such as Fig. 9 As shown, first, the driving wheel 220a or auxiliary wheel 700 at the front end of the frame moves to the edge of the first photovoltaic panel array 2a, and the guide wheel at the front end moves to the edge of the second photovoltaic panel array to form an effective support. Then the frame continues to move forward, the driving wheel or auxiliary wheel at the front end of the frame moves to above the gap, the driving wheel or auxiliary wheel at the rear end of the frame forms a support point at the first photovoltaic panel array, and the guide wheel or driven wheel at the front end of the frame forms a support point at the second photovoltaic panel array, thereby ensuring the stability of the frame during movement. Then the frame continues to move forward, as shown in FIG. Fig.10 As shown, the two driving wheels or auxiliary wheels at the front and rear ends of the frame both move above the gap, the driven wheel at the front end of the frame forms a support point at the second photovoltaic panel array, and the driven wheel at the rear end of the frame forms a support point at the first photovoltaic panel array, thereby ensuring the stability of the frame during movement. Then the frame continues to move forward, the driving wheel or auxiliary wheel at the rear end of the frame moves above the gap, the driven wheel at the front end of the frame forms a support point at the second photovoltaic panel array, the driving wheel or auxiliary wheel at the front end of the frame also forms a support point at the second photovoltaic panel array, and the driven wheel at the rear end of the frame can form a support point at the first photovoltaic panel array or move above the gap, both of which can ensure the stability of the frame during movement. Then the frame continues to move forward, as shown Fig.11As shown, the driving wheels or auxiliary wheels at the front and rear ends of the frame form support points at the second photovoltaic panel array. Since the lowest points of the driven wheels and guide wheels are higher than the lowest points of the driving wheels or auxiliary wheels, the driven wheels or guide wheels at the front and rear ends of the frame will not directly contact the second photovoltaic panel array.

[0059] In this embodiment, the width of the frame 100 is 30-50 cm, the spacing between the two driving wheels 220 is 20-40 cm, and the diameter of the driving wheel 220 is 3-6 cm. If the guide wheel group is not installed, only the panel array gap whose width is smaller than the diameter of the driving wheel can be crossed. If the gap width is too large, the driving wheel 220 will be stuck in or fall out of the gap, resulting in the inability to cross the gap.

[0060] In this embodiment, the length of the arm 410 is 30 to 40 cm, the distance between adjacent driving wheels 220 and driven wheels 420 is 20 to 40 cm, and the distance between non-adjacent driving wheels 220 and driven wheels 420 is 43 to 86 cm. As long as the gap width between two adjacent panel arrays is less than or equal to the distance between non-adjacent driving wheels 220 and driven wheels 420, the frame of this embodiment can stably achieve crossing.

[0061] In this embodiment, multiple guide wheel groups are installed on both sides of the frame, thereby increasing the width of the vehicle body, and two driven wheels are added, so that the frame 100 can ensure that at least two powered wheels run on the panel array before and after crossing the gap between the panel arrays, thereby ensuring that the frame can stably cross the array gap; the unpowered guide wheels 430 can increase the support points of the vehicle body, and even if there is a certain height difference (usually less than 10 cm) or angle difference (usually less than 10°) between the two panel arrays on both sides of the gap, effective crossing can be achieved.

[0062] like Fig.12 As shown, in other embodiments, if there is only one row of photovoltaic panel arrays that need to be cleaned, the overall length of the frame is short, the frame will not sink or deform, and there is no need to install auxiliary wheels 700 and a second guide wheel set 800 in the middle of the frame, which will not be elaborated here.

[0063] The above is a detailed introduction to a cleaning robot and a photovoltaic panel cleaning system provided in an embodiment of the present invention. Specific examples are used in this article to illustrate the principles and implementation methods of the present invention. The description of the above embodiments is only used to help understand the technical scheme and core idea of ​​the present invention. Ordinary technicians in this field should understand that they can still modify the technical schemes recorded in the aforementioned embodiments, or replace some of the technical features therein with equivalents; and these modifications or replacements do not make the essence of the corresponding technical scheme deviate from the scope of the technical scheme of the embodiments of the present invention.

Claims

1. A robot, characterized in that: include: The frame is in the shape of a long strip; Two driving wheel sets are rotatably mounted on both ends of the bottom surface of the frame; each driving wheel set includes two driving wheels of the same size and rotating synchronously; and More than two guide wheel groups are installed on the side wall of the frame, and each guide wheel group is arranged opposite to a driving wheel.

2. The robot according to claim 1, characterized in that: The frame comprises: a plate-like frame; and Two drive boxes are respectively fixed to two ends of the plate-shaped frame.

3. The photovoltaic panel cleaning system according to claim 2, characterized in that: The frame includes A first buffer wheel set is fixed to a bottom surface of a driving box; Each first buffer wheel group includes more than two buffer wheels, The center axis of the wheel axle of each buffer wheel is perpendicular to the plane where the center axes of the wheel axles of the two driving wheels are located.

4. The robot according to claim 2, characterized in that: Each driver box includes: A first box body side wall and a second box body side wall are arranged opposite to each other, and the upper portion of the first box body side wall is fixed to the plate-shaped frame; A motor, wherein the motor comprises a power output shaft passing through the middle of the side wall of the first box body; and axles of two driving wheels of a driving wheel set passing through the lower part of the side wall of the first box body; A first gear, fixed to the power output shaft; The second gear and the third gear are respectively fixed to the axles of the two driving wheels; and A first annular gear chain meshing with the first gear, the second gear and the third gear; Wherein, the first gear, the second gear, the third gear and the first annular gear chain are located in the driving box; and the motor and two driving wheels are installed outside the driving box.

5. The robot according to claim 2, characterized in that: Also includes: The roller brush comprises a roller brush shaft and bristles, wherein two ends of the roller brush shaft are rotatably mounted to two drive boxes.

6. The robot according to claim 5, characterized in that: Also includes: A fourth gear is fixed to one end of the roller brush shaft, and the fourth gear is located in a driving box; The fourth gear is meshed with the first annular gear chain in the drive box; as well as The fifth gear is fixed to the power output shaft and meshes with the fourth gear.

7. The robot according to claim 1, characterized in that: Each of the guide wheel groups comprises: An arm, one end of which is a fixed end and is detachably connected to a side wall of the frame, and the other end of which is a free end and extends forward or backward; A driven wheel rotatably mounted below the middle portion of the arm; and a guide wheel rotatably mounted to the free end of the arm; The driven wheel, the guide wheel, and two driving wheels of a driving wheel group are arranged on the same straight line, and the driven wheel and the driving wheel adjacent thereto are driven synchronously.

8. The robot according to claim 7, characterized in that: The height of the axle of the driven wheel is greater than the height of the axle of the driving wheel; and / or, The height of the wheel axle of the guide wheel is greater than the height of the wheel axle of the driven wheel.

9. The robot according to claim 1, characterized in that: Also includes: A buffer bracket, comprising a strip-shaped mounting plate and at least one bent plate, wherein one end of each bent plate is connected to the strip-shaped mounting plate, and the other end thereof is connected to an arm; The second buffer wheel group is fixed to the bottom surface of the strip plate; the second buffer wheel group includes more than two buffer wheels, and the central axis of the wheel axle of each buffer wheel is perpendicular to the plane where the central axes of the wheel axles of the two driving wheels are located.

10. The robot according to claim 1, characterized in that: Each guide wheel set also includes: a sixth gear fixed to an axle of a driving wheel; a seventh gear fixed to an axle of a driven wheel adjacent to the driving wheel; and The second annular gear chain is meshed with the fifth gear and the sixth gear.

11. The robot according to claim 1, characterized in that: Also includes: At least one auxiliary wheel set is rotatably mounted to the middle of the bottom surface of the frame; each auxiliary wheel set includes at least one auxiliary wheel, and the size of each auxiliary wheel is consistent with that of the driving wheel; More than two guide wheel groups are installed on the side wall of the frame, and each guide wheel group is arranged opposite to an auxiliary wheel.

12. A photovoltaic panel cleaning system, characterized in that: include: Photovoltaic panel arrays; as well as The robot according to any one of claims 1-11, wherein the robot is capable of traveling on the upper surface of the photovoltaic panel array.

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