Chain type rail transfer trolley

Abstract

The chain type track transfer trolley comprises a base, a track arranged on the base and a trolley capable of reciprocating on the track, the track comprises an upper walking track, a lower walking track and a chain track which are arranged in parallel, and the chain track is located between the upper walking track and the lower walking track. The trolley comprises a walking frame, a first supporting frame and a second supporting frame, the first supporting frame and the second supporting frame are assembled on the walking frame, a parking frame is arranged above the first supporting frame and the second supporting frame, a driving mechanism is arranged at one end of the chain track, a reversing mechanism is arranged at the other end of the chain track, the driving mechanism comprises a motor and a plurality of power transmission pulleys, and the reversing mechanism is provided with at least one reversing wheel. Rigid chains for power transmission are wound on the power transmission pulleys and the reversing wheels, and one of the power transmission pulleys is rotationally connected with a motor; a fixing piece assembled with the rigid chain is arranged on the walking frame, and the rigid chain and the fixing piece drive the trolley to move in a reciprocating mode. The chain track is adopted to replace a traditional double-gear track, so that the equipment cost is reduced.

Description

Technical Field

[0001] The present application relates to the field of photovoltaic power station cleaning technology, and in particular to a chain-type rail transfer vehicle. Background Art

[0002] Photovoltaic power generation is a clean energy technology. In order to ensure the power generation efficiency of photovoltaic panels, the surface of photovoltaic panels needs to be cleaned regularly. For the cleaning of photovoltaic panels, the industry has developed various types of photovoltaic cleaning robots to improve the cleaning efficiency. However, photovoltaic cleaning robots can usually only move on photovoltaic panel arrays that are connected to each other, and cannot move to unconnected photovoltaic panel arrays. In actual applications, for photovoltaic panel arrays arranged in rows, a photovoltaic cleaning robot is often required for each row of photovoltaic arrays, which greatly increases the cost of photovoltaic cleaning. In this regard, there are also solutions in the prior art that use a transfer vehicle to transport photovoltaic cleaning robots. Usually, the transfer vehicle adopts a multi-stage folding structure to achieve operation from a low position to a high position. This structural design usually has a complex control mechanism, many structural connections, and cannot be disassembled after assembly, resulting in invariants in transportation.

[0003] In view of this, it is necessary to propose a new technical solution to overcome the shortcomings of the prior art. Summary of the invention

[0004] In response to the above technical problems, the present application provides a chain-type rail transfer vehicle with a simple structure and stable operation.

[0005] To solve the above technical problems, the present application provides a chain-type rail transfer vehicle for the transfer of a photovoltaic cleaning robot, comprising a base, a rail arranged on the base and a trolley that can reciprocate on the rail, the rail comprising an upper walking rail, a lower walking rail and a chain rail arranged in parallel, the chain rail being located between the upper walking rail and the lower walking rail, the trolley comprising a walking frame, a first support frame and a second support frame assembled on the walking frame, a docking frame being arranged above the first support frame and the second support frame, a driving mechanism being arranged at one end of the chain rail and a reversing mechanism being arranged at the other end, the driving mechanism comprising a motor and a plurality of power transmission pulleys, the reversing mechanism being provided with at least one reversing wheel, a rigid chain for power transmission being wound around the power transmission pulley and the reversing wheel, one of the plurality of power transmission pulleys being rotatably connected to the motor; a fixing member assembled with the rigid chain is provided on the walking frame, and the rigid chain and the fixing member drive the trolley to reciprocate.

[0006] Further, the reversing wheel includes a first reversing wheel and a second reversing wheel arranged in parallel. The first reversing wheel is close to the first port of the chain track. The first end of the rigid chain is fixed to the fixing member, passes through the first port, then winds upward from the bottom of the wheel body of the first reversing wheel in an 8-shaped manner, winds around the wheel body of the second reversing wheel from top to bottom, and winds out to form a bottom line. The bottom line enters the inner cavity of the chain track through the first port and extends, and sequentially winds around several power transmission pulleys.

[0007] Further, the power transmission pulley includes a first power transmission wheel arranged close to the second port of the chain track, a second power transmission wheel arranged at the same height as the first power transmission wheel, a driving wheel and a driven wheel rotationally connected to the motor, a third power transmission wheel arranged above the second power transmission wheel, a fourth power transmission wheel arranged above the first power transmission wheel, and a fifth power transmission wheel located between the first power transmission wheel and the motor.

[0008] Further, after the bottom line passes through the second port of the chain track, it passes through the first power transmission wheel and then winds around the second power transmission wheel in an 8-shaped manner, winds around the driving wheel in an 8-shaped manner and reciprocates around the driving wheel and the driven wheel, then winds out from the driven wheel, sequentially passes through the third power transmission wheel, the fourth power transmission wheel and the fifth power transmission wheel, and then enters the inner cavity of the chain track through the second port and is fixed to the fixing member.

[0009] Further, the fixing member includes an assembling portion assembled with the walking frame and a holding portion received in the chain track. The holding portion is provided with a first assembling hole fixed to the first end of the rigid chain and a second assembling hole fixed to the second end of the rigid chain.

[0010] Further, the driving mechanism is arranged in a housing. The housing includes an upper housing and a lower housing which are detachably assembled. The lower housing includes a bottom wall and a side wall perpendicular to the bottom wall. The bottom wall is provided with parallel first assembling portions and second assembling portions. The driving wheel and the driven wheel are arranged in the first assembling portion. The motor is fixedly arranged on the outer side wall of the first assembling portion and is rotationally connected to the driving wheel. The fifth power transmission wheel is arranged in the second assembling portion. The first and second power transmission wheels are arranged side by side on the side wall. The third and fourth power transmission wheels are arranged side by side on the side wall and are located above the first and second power transmission wheels.

[0011] Further, the walking frame is provided with a first supporting wheel adapted to the upper walking track and a second supporting wheel adapted to the lower walking track.

[0012] Further, the first support frame is assembled and fixed to the docking frame through a first adapter seat. The first adapter seat adjusts the assembly height with the first support frame through a first sleeve. The second support frame is assembled and fixed to the docking frame through a second adapter seat. The second adapter seat adjusts the assembly height with the second support frame through a second sleeve.

[0013] Further, a third support frame is provided between the first support frame and the walking frame. After the third support frame is assembled with the first support frame and the walking frame, a triangular structure is formed. First limiting holes and second limiting holes are respectively provided on the first sleeve and the second sleeve, and are assembled in a matching manner with first through holes and second through holes provided on the first support frame and the second support frame.

[0014] Further, a limiting mechanism for locking the position of the photovoltaic cleaning robot is provided on the docking frame. The limiting mechanism includes a mounting seat assembled on the docking frame and an electric push rod. The electric push rod is assembled and fixed to the mounting seat. A position sensor is provided on the photovoltaic cleaning robot, and a magnetic steel adapted to the position sensor is provided on the mounting seat.

[0015] Compared with the prior art, the present application has the following beneficial effects: By setting a three-track structure, the use of a chain track reduces the cost of the transfer vehicle compared with the traditional double-gear track, and at the same time, the setting of the three tracks increases the stability of the transfer vehicle. Description of the Drawings

[0016] Figure 1 is a three-dimensional assembly schematic diagram of a chain-type track transfer vehicle in an exemplary embodiment; Figure 2 is a partial three-dimensional assembly schematic diagram of a drive mechanism in an exemplary embodiment; Figure 3 is a partial three-dimensional assembly schematic diagram of a commutation mechanism in an exemplary embodiment; Figure 4 is a schematic diagram of the assembly of a fixing member, a walking frame, and a rigid chain in an exemplary embodiment; Figure 5 is a partial assembly schematic diagram of a chain-type track transfer vehicle in an exemplary embodiment. Reference Numerals in the Drawings

[0017] Chain-type track transfer vehicle 100 Base 1, upper walking track 10, lower walking track 11, Chain track 12, Walking frame 2, first support frame 20, first through hole 201, Second support frame 21, second through hole 210, first sleeve 23, The first limiting hole 230, the second sleeve 24, the second limiting hole 240, The third support frame 22, the first adapter seat 25, the second adapter seat 26, The first support wheel 27, the second support wheel 28 The docking frame 3, The limiting mechanism 30, the electric push rod 31, the mounting seat 32, The magnet 33, the limiting locking block 34, the first locking part 340, The first locking hole 341, the second locking part 342, the second locking hole 343, The connecting part 344, the receiving part 345, the fixing seat 35 The driving mechanism 4, the motor 40, the lower housing 41, The bottom wall 411, the side wall 412, the first assembling part 413, The second assembling part 414, the receiving hole 415, the driving wheel 42, The driven wheel 43, the first power transmission wheel 44, the second power transmission wheel 45, The third power transmission wheel 46, the fourth power transmission wheel 47, the fifth power transmission wheel 48, The commutation mechanism 5, the first commutation wheel 50, the second commutation wheel 51, The rigid chain 6, the bottom line 60, the fixing member 7, The assembling part 70, the holding part 71, the first assembling hole 710, The second assembling hole 711, the photovoltaic cleaning robot 8. Detailed implementation manners

[0018] To make the objectives, technical solutions and advantages of the embodiments of this application clearer, the technical solutions in the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings in the embodiments of this application. Apparently, the described embodiments are some but not all of the embodiments of this application. All other embodiments obtained by those of ordinary skill in the art without creative efforts based on the embodiments in this application belong to the scope of protection of this application. Therefore, the detailed description of the embodiments of this application provided in the accompanying drawings is not intended to limit the scope of the claimed application, but merely represents selected embodiments of this application.

[0019] In the description of the present application, it should be understood that the orientation or positional relationship indicated by terms such as "center", "longitudinal", "transverse", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", etc. is based on the orientation or positional relationship shown in the drawings. These are only for the convenience of describing the present application and simplifying the description, and do 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 thus should not be construed as a limitation on the present application.

[0020] In addition, it should be understood that although terms such as first, second, third, etc. may be used in the present application to describe various information, such information should not be limited to these terms. These terms are only used to distinguish information of the same type from each other. For example, without departing from the scope of the present application, the first information may also be referred to as the second information, and similarly, the second information may also be referred to as the first information.

[0021] The terms used in the present application are only for the purpose of describing specific embodiments and are not intended to limit the present application. The singular forms of "a", "the", and "said" used in the present application and the appended claims are also intended to include the plural forms unless the context clearly indicates otherwise. In the description of the present application, "a plurality" means two or more unless otherwise specifically defined. It should also be understood that the term "and / or" used herein refers to and includes any and all possible combinations of one or more of the associated listed items.

[0022] In the present application, unless otherwise clearly specified and defined, terms such as "install", "connect", "couple", "fix", etc. should be understood in a broad sense. For example, it may be a fixed connection, a detachable connection, or integrated; it may be a mechanical connection or an electrical connection; it may be directly connected or indirectly connected through an intermediate medium, and it may be the communication inside two elements or the interaction relationship between two elements. For those of ordinary skill in the art, the specific meanings of the above terms in the present application can be understood according to specific circumstances.

[0023] In this application, unless otherwise clearly specified and defined, the first feature being "on" or "under" the second feature may include the direct contact between the first and second features, or may include the situation where the first and second features are not in direct contact but in contact through additional features therebetween. Moreover, the first feature being "above", "over" and "on top of" the second feature includes that the first feature is directly above and obliquely above the second feature, or merely indicates that the horizontal height of the first feature is higher than that of the second feature. The first feature being "under", "beneath" and "underneath" the second feature includes that the first feature is directly below and obliquely below the second feature, or merely indicates that the horizontal height of the first feature is less than that of the second feature.

[0024] Please refer to Figures 1 to 5 As shown, a chain-type track transfer vehicle 100 for transferring a photovoltaic cleaning robot 8 includes a base 1, a track disposed on the base 1, and a trolley capable of reciprocating on the track. The track includes an upper running track 10, a lower running track 11 and a chain track 12 arranged in parallel. The chain track 12 is located between the upper running track 10 and the lower running track 11. The trolley includes a running frame 2, a first support frame 20 and a second support frame 21 assembled on the running frame 2. A docking frame 3 is disposed above the first support frame 20 and the second support frame 21. A driving mechanism 4 is disposed at one end of the chain track 12 and a reversing mechanism 5 is disposed at the other end. The driving mechanism 4 includes a motor 40 and a plurality of power transmission pulleys. The reversing mechanism 5 is provided with at least one reversing wheel. A rigid chain 6 for power transmission is wound around the power transmission pulleys and the reversing wheel. One of the plurality of power transmission pulleys is rotationally connected to the motor 40; a fixing member 7 assembled with the rigid chain 6 is disposed on the running frame 2, and the rigid chain 6 and the fixing member 7 drive the trolley to reciprocate.

[0025] The running frame 2 is provided with a first support wheel 27 adapted to the upper running track 10 and a second support wheel 28 adapted to the lower running track 11. By providing the first support wheel 27 and the second support wheel 28, the running of the trolley can be made smoother, and at the same time, the upper limit of the power design of the driving mechanism 4 can be reduced to a certain extent, reducing energy consumption.

[0026] In an embodiment, the first support frame 20 is assembled and fixed to the docking frame 3 through a first adapter seat 25, and the assembly height between the first adapter seat 25 and the first support frame 20 is adjusted through a first sleeve 23. The second support frame 21 is assembled and fixed to the docking frame 3 through a second adapter seat 26, and the assembly height between the second adapter seat 26 and the second support frame 21 is adjusted through a second sleeve 24. In this application, through the structural design of the first sleeve 23 and the second sleeve 24, the height of the docking frame 3 of the transfer vehicle can be adjusted according to different usage scenarios, and the operation is simple and convenient to use.

[0027] A third support frame 22 is provided between the first support frame 20 and the traveling frame 2. The third support frame 22 is assembled with the first support frame 20 and the traveling frame 2 to form a triangular structure to increase the overall stability and strength of the transfer vehicle. In one embodiment, both ends of the third support frame 22 are assembled and fixed with the first support frame 20 and the traveling frame 2 through an adapter; such an arrangement can facilitate the folding and storage of the third support frame 22; the adapter structure used for assembling the third support frame 22 with the first support frame 20 and the traveling frame 2 in this application is the same as the adapter structure for assembling the first support frame 20, the second support frame 21 and the docking frame 3, and will not be repeated here. Indeed, both ends of the third support frame 22 can be directly welded and fixed with the first support frame 20 and the traveling frame 2, and welding and fixing can further enhance the overall strength of the support frame, but the convenience of disassembly and storage will be lost.

[0028] The first sleeve 23 and the second sleeve 24 are respectively provided with a first limiting hole 230 and a second limiting hole 240, which are adapted to be assembled with the first through hole (not shown) and the second through hole (not shown) provided on the first support frame 20 and the second support frame 21. In one embodiment, the height of the first support frame 20 is greater than the height of the second support frame 21, and the angle formed by the docking frame 3 and the walking frame 2 is an acute angle. Of course, the size of the angle can be achieved by adjusting the assembly height of the first sleeve 23 and the first support frame 20 according to the needs of the actual use scenario, and can also be achieved by adjusting the assembly height of the second sleeve 24 and the second support frame 21 at the same time. Specifically, the first sleeve 23 and the second sleeve 24 are respectively provided with a first limiting hole 230 and a second limiting hole 240, which are assembled and fixed with the first through hole 201 and the second through hole 210 provided on the first support frame 20 and the second support frame 21. As a preferred solution, the first sleeve 23 and the second sleeve 24 are rectangular hollow structures respectively. The first sleeve 23 is provided with a plurality of first limiting holes 230 at intervals along the length direction, and the second sleeve 24 is provided with a plurality of second limiting holes 240 at intervals along the length direction; the first support frame 20 is provided with a plurality of first through holes 201 at intervals along the length direction, and the second support frame 21 is provided with a plurality of second through holes 210 at intervals along the length direction. The first limiting holes 230, the second limiting holes 240, the first through holes 201 and the second through holes 210 have the same hole spacing to ensure that the docking frame 3 always maintains the same plane. This solution can adjust the angle and height of the docking frame 3 by adjusting the position of the first sleeve 23 and the first support frame 20 and the position of the second sleeve 24 and the second support frame 21. The overall structure is simple and easy to operate, and it is also easy to disassemble and transport.

[0029] The docking rack 3 is provided with a limiting mechanism 30 for locking the position of the photovoltaic cleaning robot. The limiting mechanism 30 includes a mounting seat 32 assembled on the docking rack 3 and an electric push rod 31. The electric push rod 31 is fixedly assembled with the mounting seat 32. A position sensor is provided on the photovoltaic cleaning robot, and a magnetic steel 33 adapted to the position sensor is provided on the mounting seat 32. A fixing seat 35 is provided on one side of the position sensor, and the electric push rod 31 can be inserted into the fixing seat 35. Specifically, the fixing seat is a long strip-shaped structure with a runway-shaped slot hole in the center. The fixing seat extends out of the outer end of the body of the photovoltaic cleaning robot in a partially suspended manner. When the position sensor detects the magnetic steel 33, it sends a signal to the central controller, and the central controller controls the electric push rod 31 to switch from the zero position state to the stroke limit state. The extended push rod passes through the slot hole and is inserted into the fixing seat. To prevent the electric push rod 31 from slipping off after being inserted into the fixing seat, in an embodiment of the present application, a limit locking block 34 is provided above the electric push rod 31. The limit locking block 34 is assembled on the mounting seat 32. The limit locking block 34 is formed with a receiving portion 345 for accommodating the fixing seat and a locking hole adapted to the electric push rod 31. Specifically, the limit locking block 34 includes a first locking portion 340, a second locking portion 342, and a connecting portion 344 connecting the first locking portion 340 and the second locking portion 342. The first locking portion 340 and the second locking portion 342 are parallel and arranged in the same direction and form a U-shaped structure with the connecting portion 344. A receiving portion 345 for accommodating the fixing seat is formed between the first locking portion 340 and the second locking portion 342. A first locking hole 341 is provided on the first locking portion 340, and a second locking hole 343 is provided on the second locking portion 342. The axes of the first locking hole 341 and the second locking hole 343 coincide, so as to ensure the reliability of the assembly of the electric push rod 31, the fixing seat, and the limit locking block 34. In the present application, the position of the photovoltaic cleaning robot is monitored through the induction between the magnetic steel 33 and the sensor. The structure is simple and has high reliability. The insertion of the electric push rod 31 into the fixing seat enhances the safety of the overall operation of the photovoltaic cleaning robot and the transfer vehicle after reaching the designated position; by further setting a limiting structure, the safety performance of the photovoltaic cleaning robot during the transfer process is enhanced, and accidental situations such as falling off caused by vibration are avoided.

[0030] In one embodiment, the reversing wheel includes a first reversing wheel 50 and a second reversing wheel 51 arranged in parallel. The first reversing wheel 50 is close to the first port of the chain track 12. The first end of the rigid chain 6 is fixed to the fixing member 7, passes through the first port, and then winds around the bottom of the wheel body of the first reversing wheel 50 in an 8-shaped manner from bottom to top, then winds around the wheel body of the second reversing wheel 51 and winds out to form a bottom line 60. The bottom line 60 enters the inner cavity of the chain track 12 through the first port and extends, and is sequentially wound around a plurality of the power transmission pulleys. As a preferred solution, the central axis position of the first reversing wheel 50 is higher than the central axis position of the second reversing wheel 51 to ensure that the rigid chain 6 maintains a preset tension; the wheel diameter of the first reversing wheel 50 is less than or equal to the wheel diameter of the second reversing wheel 51. After assembly, the plane where the lowest point of the wheel body of the first reversing wheel 50 is located is below the central axis of the second reversing wheel 51. The reversing mechanism 5 further includes a mounting box body assembled and fixed to the chain track 12. The mounting bracket of the first reversing wheel 50 is installed parallel to the horizontal plane, and the mounting bracket of the second reversing wheel 51 is installed perpendicular to the horizontal plane.

[0031] The power transmission pulleys include a first power transmission wheel 44 arranged near the second port of the chain track 12, a second power transmission wheel 45 arranged at the same height as the first power transmission wheel 44, a driving wheel 42 and a driven wheel 43 rotationally connected to the motor 40, a third power transmission wheel 46 arranged above the second power transmission wheel 45, a fourth power transmission wheel 47 arranged above the first power transmission wheel 44, and a fifth power transmission wheel 48 located between the first power transmission wheel 44 and the motor 40. The central axes of the third power transmission wheel 46 and the fourth power transmission wheel 47 are at the same horizontal height. To reduce the production and assembly costs and facilitate installation, the first, second, third, and fourth power transmission wheels adopt the same structure, so that the force of the rigid chain 6 will not be decomposed during operation and the operation will be smoother. In this application, at least 3 wheel grooves are provided on the driving wheel 42 and the driven wheel 43 to ensure that the rigid chain 6 still has sufficient tensile force after long-term use.

[0032] After the bottom line 60 passes through the second port of the chain track 12, it passes through the first power transmission wheel 44 and then winds around the second power transmission wheel 45 in an 8-shaped manner, passes through the driving wheel 42 and reciprocally winds around the driving wheel 42 and the driven wheel 43 in an 8-shaped manner, then winds out from the driven wheel 43, sequentially passes through the third power transmission wheel 46, the fourth power transmission wheel 47, and the fifth power transmission wheel 48, and then enters the inner cavity of the chain track 12 through the second port and is fixed to the fixing member 7; the part where the bottom line 60 enters the second port and is assembled with the fixing member 7 is the second end of the rigid chain 6.

[0033] The fixing member 7 includes an assembling portion 70 assembled with the traveling frame 2 and a holding portion 71 received in the chain track 12. A first assembling hole 710 fixed to the first end of the rigid chain 6 and a second assembling hole 711 fixed to the second end of the rigid chain 6 are provided on the holding portion 71.

[0034] The driving mechanism 4 is disposed in a housing. The housing includes an upper housing and a lower housing 41 that are detachably assembled. The lower housing 41 is assembled and fixed to the upper traveling track 10 and the chain track 12. The lower housing 41 includes a bottom wall 411 and a side wall 412 perpendicular to the bottom wall 411. Parallel first assembling portions 413 and second assembling portions 414 are provided on the bottom wall 411. The driving wheel 42 and the driven wheel 43 are disposed in the first assembling portion 413. The motor 40 is fixedly disposed on the outer side wall 412 of the first assembling portion 413 and is rotationally connected to the driving wheel. The fifth power transmission wheel 48 is disposed in the second assembling portion 414. The first and second power transmission wheels 45 are arranged side by side on the side wall 412. The third and fourth power transmission wheels 47 are arranged side by side on the side wall 412 and are located above the first and second power transmission wheels 45. A receiving hole 415 is provided at a position on the side wall 412 corresponding to the second port of the chain track 12.

[0035] The above embodiments merely represent several implementation manners of the present application. The description thereof is relatively specific and detailed, but it should not be construed as a limitation on the scope of the invention patent. It should be noted that for those of ordinary skill in the art, without departing from the concept of the present application, several modifications and improvements can still be made, and these all belong to the protection scope of the present application. Therefore, the protection scope of the patent of the present application shall be subject to the appended claims.

Claims

1. A chain-type track transfer vehicle for the transfer of a photovoltaic cleaning robot, characterized in that, It includes a base, a track disposed on the base, and a trolley that can reciprocate on the track. The track includes an upper running track, a lower running track, and a chain track that are arranged in parallel. The chain track is located between the upper running track and the lower running track. The trolley includes a running frame, a first support frame and a second support frame assembled on the running frame. A docking frame is arranged above the first support frame and the second support frame. A driving mechanism is arranged at one end of the chain track and a reversing mechanism is arranged at the other end. The driving mechanism includes a motor and a number of power transmission pulleys. The reversing mechanism is provided with at least one reversing wheel. A rigid chain for power transmission is wound around the power transmission pulleys and the reversing wheel. One of the power transmission pulleys is rotationally connected to the motor. A fixing member assembled with the rigid chain is arranged on the running frame. The rigid chain and the fixing member drive the trolley to reciprocate.

2. The chain-type rail transfer vehicle according to claim 1, characterized in that, The reversing wheel includes a first reversing wheel and a second reversing wheel arranged in parallel. The first reversing wheel is close to the first port of the chain track. The first end of the rigid chain is fixed to the fixing member, passes through the first port, then winds around the bottom of the wheel body of the first reversing wheel in an 8-shaped manner from bottom to top, then winds around the wheel body of the second reversing wheel from top to bottom and winds out to form a bottom line. The bottom line enters the inner cavity of the chain track through the first port and extends, and is sequentially wound around a number of the power transmission pulleys.

3. The chain-type track transfer vehicle according to claim 2, characterized in that, The power transmission pulleys include a first power transmission wheel arranged close to the second port of the chain track, a second power transmission wheel arranged at the same height as the first power transmission wheel, a driving wheel and a driven wheel rotationally connected to the motor, a third power transmission wheel arranged above the second power transmission wheel, a fourth power transmission wheel arranged above the first power transmission wheel, and a fifth power transmission wheel located between the first power transmission wheel and the motor.

4. The chain-type rail transfer vehicle according to claim 3, wherein, After the bottom line passes through the second port of the chain track, it passes through the first power transmission wheel and then winds around the second power transmission wheel in an 8-shaped manner. It winds around the driving wheel in an 8-shaped manner and reciprocates between the driving wheel and the driven wheel, then winds out from the driven wheel and sequentially passes through the third power transmission wheel, the fourth power transmission wheel and the fifth power transmission wheel, and then enters the inner cavity of the chain track through the second port and is fixed to the fixing member.

5. The chain-type rail transfer vehicle according to claim 4, wherein, The fixing member includes an assembling part assembled with the running frame and a holding part received in the chain track. The holding part is provided with a first assembling hole fixed to the first end of the rigid chain and a second assembling hole fixed to the second end of the rigid chain.

6. The chain-type track transfer vehicle according to claim 5, wherein, The driving mechanism is arranged in the housing. The housing includes an upper housing and a lower housing which are detachably assembled. The lower housing includes a bottom wall and a side wall perpendicular to the bottom wall. The bottom wall is provided with parallel first assembly parts and second assembly parts. The driving wheel and the driven wheel are arranged in the first assembly part. The motor is fixedly arranged on the outer side wall of the first assembly part and is rotationally connected with the driving wheel. The fifth power transmission wheel is arranged in the second assembly part. The first and second power transmission wheels are arranged side by side on the side wall. The third and fourth power transmission wheels are arranged side by side on the side wall and are located above the first and second power transmission wheels.

7. The chain-type track transfer vehicle according to any one of claims 1 to 6, characterized in that, The walking frame is provided with a first support wheel adapted to the upper walking track and a second support wheel adapted to the lower walking track.

8. The chain-type rail transfer vehicle according to claim 7, wherein, The first support frame is assembled and fixed to the docking frame through a first adapter seat. The first adapter seat adjusts the assembly height with the first support frame through a first sleeve. The second support frame is assembled and fixed to the docking frame through a second adapter seat. The second adapter seat adjusts the assembly height with the second support frame through a second sleeve.

9. The chain-type track transfer vehicle according to claim 8, wherein, A third support frame is arranged between the first support frame and the walking frame. After the third support frame is assembled with the first support frame and the walking frame, a triangular structure is formed. The first sleeve and the second sleeve are respectively provided with a first limiting hole and a second limiting hole which are adapted to be assembled with a first through hole and a second through hole arranged on the first support frame and the second support frame.

10. The chain-type track transfer vehicle according to any one of claims 1 to 6 or claim 9, characterized in that, The docking frame is provided with a limiting mechanism for locking the position of the photovoltaic cleaning robot. The limiting mechanism includes a mounting seat assembled on the docking frame and an electric push rod. The electric push rod is assembled and fixed to the mounting seat. The photovoltaic cleaning robot is provided with a position sensor. The mounting seat is provided with a magnetic steel adapted to the position sensor.

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