High-energy-efficiency photovoltaic cleaning robot

Abstract

The utility model provides a high-energy-efficiency photovoltaic cleaning robot which is used for cleaning a photovoltaic array and comprises a driving motor, a transmission device in transmission connection with the driving motor and a cleaning mechanism arranged on the photovoltaic array. The transmission device drives the sweeping mechanism to reciprocate on the upper surface of the photovoltaic array and comprises a first transmission wheel, a second transmission wheel and a traction piece, the first transmission wheel and the second transmission wheel are in transmission connection, and the traction piece is arranged on the first transmission wheel and the second transmission wheel in a sleeving mode and fixedly connected with the sweeping mechanism. The first transmission wheels are arranged at upper openings of the purlins on the left and right sides, and the second transmission wheels are arranged at lower openings of the purlins on the left and right sides; the first transmission wheel and the second transmission wheel are arranged below the purline in a suspended mode in the gravity direction so that the movement direction of the traction piece can be perpendicular to the gravity direction. And the transmission device is arranged in the gravity direction, so that the driving force is prevented from being decomposed in the gravity direction, and the efficiency of the robot is effectively improved.

Description

Technical Field

[0001] The present application relates to the field of photovoltaic cleaning technology, and in particular to a high-efficiency photovoltaic cleaning robot. Background Art

[0002] The photovoltaic cleaning robot is a machine that can move on the photovoltaic array to clean the photovoltaic array. The photovoltaic cleaning robot cleans the photovoltaic array regularly or according to certain conditions to avoid the reduction of photovoltaic array power generation efficiency due to dust, snow and debris pollution.

[0003] For distributed power stations in northern regions, the long snowfall period in winter seriously affects the power generation efficiency or the normal use of the power station. In order to ensure that the power station can achieve the designed power generation effect in winter, it is necessary to carry out timely snow removal and maintenance of the power station; the cleaning robots of traditional photovoltaic power stations mostly use the self-generated electricity of the power station as the power source. In case of severe weather such as continuous heavy snow, the robots cannot be used for cleaning, causing the power station to be paralyzed; in addition, distributed rooftop photovoltaic power stations are usually set up according to actual scenarios, and the power station and the ground will form a certain inclination. Therefore, after the cleaning robot is set in the power station, its driving mechanism and transmission mechanism form a certain inclination angle with the ground. When the robot is working, part of the power provided by the driving mechanism will be decomposed along the direction of gravity, causing loss.

[0004] In view of this, it is necessary to propose a new technical solution to overcome the shortcomings of the existing technology and improve the energy efficiency of the cleaning robot. Utility Model Content

[0005] The present application provides a high-energy-efficiency photovoltaic cleaning robot, which optimizes the product structure and improves the robot's energy efficiency.

[0006] The present application is implemented through the following technical solutions: a high-efficiency photovoltaic cleaning robot for cleaning a photovoltaic array, comprising a driving motor, a transmission device connected to the driving motor, and a cleaning mechanism arranged on the photovoltaic array; the transmission device drives the cleaning mechanism to reciprocate on the upper surface of the photovoltaic array, the transmission device comprises a first transmission wheel and a second transmission wheel connected to each other, and a traction member sleeved on the first transmission wheel and the second transmission wheel and fixedly connected to the cleaning mechanism, the first transmission wheel is arranged at the upper mouth of the purlins on the left and right sides, and the second transmission wheel is arranged at the lower mouth of the purlins on the left and right sides; and the first transmission wheel and the second transmission wheel are both suspended below the purlins along the direction of gravity so that the movement direction of the traction member is perpendicular to the direction of gravity. By arranging the transmission device along the direction of gravity, the driving force is prevented from being decomposed in the direction of gravity, and the efficiency of the robot is effectively improved.

[0007] Further, the first transmission wheel is assembled to the upper end of the purlin through the first mounting seat, and the second transmission wheel is assembled to the lower end of the purlin through the second mounting seat, the first mounting seat forms a compensation angle α, and the second mounting seat forms a compensation angle β, wherein α and β are complementary, and the first mounting seat and the second mounting seat on the same side have the same compensation angle. By setting the compensation angle on the first mounting seat and the second mounting seat, it is ensured that the first transmission wheel and the second transmission wheel are both in the direction of gravity after installation, thereby ensuring that the driving force is not decomposed to the greatest extent.

[0008] Furthermore, the first mounting seat includes a first assembling part assembled with the purlin and a second assembling part assembled with the first transmission wheel, the first assembling part is provided with an assembling groove, the second assembling part is provided with a first assembling hole and a first axial hole, and the second assembling part is bent and extended downward along one end of the first assembling part to form an angle α.

[0009] Furthermore, the second mounting seat includes a third assembling part assembled with the purlin and a fourth assembling part assembled with the second transmission wheel, the third assembling part is provided with an assembling groove, the fourth assembling part is provided with a second assembling hole and a second axial hole, and the fourth assembling part is bent and extended downward along one end of the third assembling part to form an angle β.

[0010] Furthermore, the driving motor is arranged on a motor support frame, the motor support frame is arranged below the purlin and fixedly assembled with the bottom surface of the purlin, the first transmission wheel is a driving wheel, the second transmission wheel is a driven wheel, the first transmission wheel is a gear, and the second transmission wheel is a pulley. By arranging the driving motor, the first transmission wheel, and the second transmission wheel below the purlin, the mechanism design of the robot is simpler and optimized, and interference or jamming between components during the operation of the robot can be effectively prevented.

[0011] Furthermore, the two ends of the motor shaft of the driving motor are respectively connected to the first transmission shaft and the second transmission shaft through couplings, and the other ends of the first transmission shaft and the second transmission shaft are respectively connected to the rotating shaft of the first transmission wheel through universal joint couplings. The setting of the universal joint coupling can effectively adjust the driving force of the driving motor autonomously according to the compensation angle set by the first transmission wheel.

[0012] Furthermore, at least one lifting device for the traction member is provided between the first transmission wheel and the second transmission wheel on the same side of the purlin. The lifting device can eliminate the phenomenon of the traction member hanging in the direction of gravity, thereby ensuring the normal energy efficiency of the system.

[0013] Furthermore, the lifting device includes a pulley block consisting of a first pulley and a second pulley, the second pulley is located below the first pulley and at least a portion of the wheel body is located in the wheel groove of the first pulley, and the traction member can slide in the wheel grooves of the first pulley and the second pulley. By setting the lifting device as a pulley block, the energy loss caused by the relative movement of the lifting device and the traction member can be reduced.

[0014] Furthermore, the traction member is a chain formed by a plurality of metal rings connected in a string, the metal rings on the chain have transverse rings and longitudinal rings, the transverse rings and the longitudinal rings are alternately arranged, the cleaning mechanism includes a crossbeam, a cleaning member arranged on the crossbeam for cleaning the photovoltaic array, and a walking device arranged at both ends of the crossbeam, the walking device includes a pull plate fixed to the crossbeam at one end and to the chain at the other end.

[0015] Furthermore, the walking device also includes a positive pressure wheel pressed against the top surface of the purlin and a side pressure wheel pressed against the outer side surface of the purlin, the first transmission wheel is a gear, the second transmission wheel is a pulley, at least one first limit device is provided in the area formed by the upper frame of the photovoltaic module and the upper opening of the purlin; at least one second limit device is provided in the area formed by the lower frame of the photovoltaic module and the lower opening of the purlin. The first limit device and the second limit device are provided to ensure the safety of the cleaning robot during work, and prevent the robot from exceeding the set working area and causing damage to the equipment.

[0016] The high-efficiency photovoltaic cleaning robot provided in the present application not only avoids possible interference or jamming of the various components of the robot when it is working by arranging the drive motor, the first transmission wheel, and the second transmission wheel below the purlins of the photovoltaic module, but also solves the efficiency loss problem caused by the decomposition of the power of the traditional robot along the direction of gravity by arranging the first transmission wheel and the second transmission wheel along the direction of gravity, thereby further optimizing the structural setting of the robot. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings required for use in the description of the 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 any creative labor.

[0018] Figure 1 It is a schematic diagram of a photovoltaic cleaning robot according to an embodiment of the present application assembled on a photovoltaic array.

[0019] Figure 2 It is a schematic diagram of a driving motor and a first transmission shaft assembled to a purlin in one embodiment of the present application.

[0020] Figure 3 It is a schematic diagram of assembling a driving motor on a motor support frame in one embodiment of the present application.

[0021] Figure 4 yes Figure 1 A local enlarged schematic diagram of the .

[0022] Figure 5 It is a partial assembly diagram of the first transmission wheel in one embodiment of the present application.

[0023] Figure 6 It is a three-dimensional assembly schematic diagram of the first transmission wheel from another angle in one embodiment of the present application.

[0024] Figure 7 It is a schematic diagram of the assembly of the second transmission wheel and the purlin in one embodiment of the present application.

[0025] Figure 8 It is a schematic diagram of the assembly of the second transmission wheel and the purlin in another embodiment of the present application.

[0026] Fig. 9 It is a schematic diagram of the assembly of the lifting device and the purlin in one embodiment of the present application.

[0027] Description of reference numerals:

[0028] Photovoltaic cleaning robot 100

[0029] Drive motor 1

[0030] Motor support frame 10 first fixing portion 101 second fixing portion 102 shaft hole 103 positioning hole 104 vertical portion 105

[0031] Horizontal portion 107 Assembly hole 108 First transmission shaft 11 Second transmission shaft 12 Universal joint coupling 13 Bracket 14

[0032] Rigid coupling 15

[0033] Cleaning mechanism 2

[0034] Crossbeam 20 Pull plate 23 Positive pressure wheel 21 Side pressure wheel 22 Pull plate 23 First limit device 24 Second limit device 25

[0035] Auxiliary walking wheel 26

[0036] Transmission

[0037] The first transmission wheel 31 The second transmission wheel 32 The traction member 33 The first mounting seat 34 The first assembly part 340 The assembly groove 342 The second assembly part 341 The first assembly hole 343 The first shaft hole 344 The second mounting seat 35 The third assembly part 350 The fourth assembly part 351 The lifting device 4

[0038] The first pulley 41 and the second pulley 42 DETAILED DESCRIPTION

[0039] In order to make the purpose, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are part of the embodiments of the present application, rather than all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the present application. Therefore, the following detailed description of the embodiments of the present application provided in the drawings is not intended to limit the scope of the application for which protection is sought, but merely represents the selected embodiments of the present application. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the present application.

[0040] In the description of the present application, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise" and the like indicating orientations or positional relationships are based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the present application.

[0041] In addition, it should be understood that although the terms first, second, third, etc. may be used in the present application to describe various information, these information should not be limited to these terms. These terms are only used to distinguish the same type of information 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. Depending on the context, the word "if" as used herein may be interpreted as "at the time of" or "when" or "in response to determining".

[0042] The terms used in this application are only for the purpose of describing specific embodiments and are not intended to limit this application. The singular forms of "a", "said" and "the" used in this application and the appended claims are also intended to include plural forms, unless the context clearly indicates other meanings. In the description of this application, the meaning of "multiple" is two or more, unless otherwise clearly and specifically limited. It should also be understood that the term "and / or" used in this article refers to and includes any or all possible combinations of one or more associated listed items.

[0043] In this application, unless otherwise clearly specified and limited, the terms "installed", "connected", "connected", "fixed" and the like should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral 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. For ordinary technicians in this field, the specific meanings of the above terms in this application can be understood according to specific circumstances.

[0044] In the present application, unless otherwise clearly specified and limited, a first feature being "above" or "below" a second feature may include that the first and second features are in direct contact, or may include that the first and second features are not in direct contact but are in contact through another feature between them. Moreover, a first feature being "above", "above" and "above" a second feature includes that the first feature is directly above and obliquely above the second feature, or simply indicates that the first feature is higher in level than the second feature. A first feature being "below", "below" and "below" a second feature includes that the first feature is directly below and obliquely below the second feature, or simply indicates that the first feature is lower in level than the second feature.

[0045] The following is a detailed description of a high-efficiency photovoltaic cleaning robot of the present application in conjunction with the accompanying drawings. In the absence of conflict, the features of the following embodiments can be combined with each other.

[0046] Please refer to Figures 1 to 9 As shown, the present application provides a high-efficiency photovoltaic cleaning robot 100 for cleaning a photovoltaic array. The high-efficiency photovoltaic cleaning robot includes a drive motor 1, a transmission device connected to the drive motor 1, and a cleaning mechanism 2 arranged on the photovoltaic array. The transmission device drives the cleaning mechanism 2 to reciprocate on the upper surface of the photovoltaic array. The transmission device includes a first transmission wheel 31, a second transmission wheel 32 connected to each other, and a traction member 33 sleeved on the first transmission wheel 31 and the second transmission wheel 32 and fixedly connected to the cleaning mechanism 2. The first transmission wheel 31 is arranged at the upper end of the purlins on the left and right sides, and the second transmission wheel 32 is arranged at the lower end of the purlins on the left and right sides; and the first transmission wheel 31 and the second transmission wheel 32 are both suspended below the purlins along the direction of gravity so that the movement direction of the traction member 33 is perpendicular to the direction of gravity. The first transmission wheel 31 is a driving wheel, the second transmission wheel 32 is a driven wheel, the first transmission wheel 31 is a gear, and the second transmission wheel 32 is a pulley; by setting the second transmission wheel 32 as a pulley, the friction between the traction member 33 and the transmission wheel can be reduced, and the noise / vibration of the cleaning robot during operation can be effectively reduced, and the user experience of the product is better. Of course, the second transmission wheel 32 can also be set as a gear.

[0047] Specifically, the first transmission wheel 31 is assembled to the upper end of the purlin through the first mounting seat 34. In one embodiment, the first mounting seat 34 includes a first assembly portion 340 assembled with the purlin and a second assembly portion 341 assembled with the first transmission wheel 31. The first assembly portion 340 is provided with an assembly groove 342, and the second assembly portion 341 is provided with a first assembly hole 343 and a first shaft hole 344. The second assembly portion 341 is bent downward and extended along one end of the first assembly portion 340 to form an angle α. Indeed, the assembly groove 342 on the first assembly portion 340 can adjust the assembly depth of the first assembly portion 340 and the purlin in the horizontal direction according to the angle of different photovoltaic power station settings. For example, when the length of the first assembly portion 340 to be extended outward is large, the bolts can assemble and fix the first mounting seat 34 with the upper end of the purlin at a position where the assembly groove 342 is far away from the second assembly portion 341. In the present application, the purpose of setting the assembly structure of the first assembly part 340 as the assembly groove 342 is only to increase the adaptability of the first mounting seat 34, and other structures such as assembly holes are not limited thereto. The angle α formed by the first mounting seat 34 is the compensation angle between the setting direction of the purlin and the gravity direction. The first transmission wheel 31 is assembled to the second assembly part 341 through the bearing seat, and the bolts pass through the first assembly hole 343 to assemble and fix the bearing seat and the second assembly part 341. The rotating shaft of the first transmission wheel 31 passes through the first shaft hole 344 and is connected to the universal joint coupling 13 to realize power transmission.

[0048] The second transmission wheel 32 is assembled to the lower end of the purlin through the second mounting seat 35. Specifically, the second mounting seat 35 includes a third assembly part 350 assembled with the lower end of the purlin and a fourth assembly part 351 assembled with the second transmission wheel 32. The third assembly part 350 is provided with an assembly groove or an assembly hole. The structural setting has the same design concept as the first assembly part and is not repeated here; the fourth assembly part 351 is provided with a second assembly hole and a second shaft hole. The fourth assembly part 351 is bent and extended downward along one end of the third assembly part 350 to form an angle β. In the embodiment of the present application, the first mounting seat 34 and the second mounting seat 35 located on the same side have the same compensation angle. Figure 5 , Figure 6 and Figure 7The compensation angle α of the first mounting seat 34 is an obtuse angle, and the compensation angle β of the second mounting seat 35 is an obtuse angle for exemplary description, which does not constitute a limitation on the compensation angle setting of the first mounting seat 34 and the second mounting seat 35. In the present application, the compensation angles formed by the first mounting seats 34 on the left and right sides of the upper mouth of the purlin are complementary; the compensation angles formed by the second mounting seats 35 on the left and right sides of the lower mouth of the purlin are complementary, that is, α+β=180°. The second transmission wheel 32 is assembled to the fourth assembly part 351 through the bearing seat, and the bolt passes through the second assembly hole to assemble and fix the bearing seat and the fourth assembly part 351, and the rotating shaft of the second transmission wheel 32 passes through the second shaft hole and is assembled to the fourth assembly part 351. In the embodiment of the present application, by setting the compensation angles on the first mounting seat 34 and the second mounting seat 35 to ensure that the first transmission wheel 31 and the second transmission wheel 32 are both in the direction of gravity after installation, so as to avoid the driving force of the driving motor 1 from being decomposed in the direction of gravity to the greatest extent, and effectively improve the efficiency of the cleaning robot. Since there is almost no loss in power transmission, a motor with a relatively low power configuration can be used in the product design to meet the product usage requirements, thereby optimizing the product structure and reducing the cost of the product; the drive motor in this application is connected to the AC power supply.

[0049] In one embodiment, the drive motor 1 is arranged on a motor support frame 10. The motor support frame 10 is arranged below the purlin and fixedly assembled with the bottom surface of the purlin. The motor support frame 10 has a base, a first fixing portion 101 is provided in the middle of the base, and second fixing portions 102 are provided at both ends of the base. The drive motor 1 is assembled on the first fixing portion 101, and the second fixing portion 102 is fixedly assembled with the bottom surface of the purlin by bolts. The first fixing portion 101 is provided with a positioning hole 104 for the motor shaft to pass through, and the second fixing portion 102 has a vertical portion 105 and a horizontal portion 107, and the vertical portion 105 is provided with an axial hole 103 for the corresponding first transmission shaft and second transmission shaft to pass through, and the horizontal portion 107 is formed by horizontal bending from the vertical portion 105 and provided with an assembly hole 108, and the purlin is provided with an opening adapted to the assembly hole 108 and for the bolt assembly. In one embodiment, the second fixing portion 102 and the base can be integrally formed, that is, the second fixing portion 102 is formed by bending the two ends of the base upward and extending at the end to form a structure assembled with the purlin. The first fixing portion 101 is a plate-like structure, and the motor housing is assembled and fixed to the first fixing portion 101. In order to increase the stability of the motor after assembly, the first fixing portion 101 is further provided with a reinforcing structure connected to the base, such as a reinforcing plate or reinforcing ribs. The technical solution of the present application makes the structural design of the robot simpler and more optimized by arranging the drive motor 1, the first transmission wheel 31, and the second transmission wheel 32 under the purlin, and can effectively prevent interference or jamming between the components during the operation of the robot.

[0050] The drive motor 1 has a motor shaft extending to both ends, wherein one end of the motor shaft is connected to the first transmission shaft 11 through a rigid coupling 15. The other end of the motor shaft is connected to the second transmission shaft 12 through a rigid coupling. The first transmission shaft 11 can be a single shaft or a plurality of shafts connected through a rigid coupling 15, and the structure of the second transmission shaft 12 can also be a single shaft or a plurality of shafts connected through a rigid coupling 15. In order to ensure that the motor shaft driving force and the first transmission shaft 11 and the second transmission shaft 12 always maintain linear transmission, the motor shaft is connected to the first transmission shaft 11 and the second transmission shaft 12 through a rigid coupling 15. Because the rotating shaft of the first transmission wheel 31 is not in the same straight line as the motor shaft, the first transmission shaft 11 is connected to the rotating shaft of the first transmission wheel 31 through a universal joint coupling 13. Through the setting of the universal joint coupling 13, the driving force of the drive motor 1 can be effectively adjusted autonomously according to the compensation angle set by the first transmission wheel 31 to achieve linear transmission. In order to avoid the first transmission shaft 11 and the second transmission shaft 12 being too long and causing deflection during transmission, at least one bracket 14 may be provided below the purlin between the first transmission wheel 31 and the motor support frame 10. The bracket 14 is provided with a third shaft hole (not numbered), and after the first transmission shaft 11 and the second transmission shaft 12 pass through the corresponding third shaft hole to complete the assembly, the third shaft hole and the motor shaft have the same center line.

[0051] In one embodiment, the cleaning mechanism 2 includes a crossbeam 20, a cleaning member disposed on the crossbeam 20 for cleaning the photovoltaic array, and a walking device disposed at both ends of the crossbeam 20. The walking device includes a pull plate 23 fixed to the crossbeam 20 at one end and fixed to the traction member 33 at the other end. The cleaning member may be a rubber strip or a brush, preferably a rubber strip. The walking device also includes a positive pressure wheel 21 pressed against the top surface of the purlin and a side pressure wheel 22 pressed against the outer side surface of the purlin. An auxiliary walking wheel 26 may be further provided in the middle portion of the crossbeam 20 to make the cleaning mechanism 2 work more smoothly, and the number of auxiliary walking wheels 26 provided may be increased or decreased according to the specific working scenario.

[0052] The traction member 33 is a chain formed by connecting a plurality of metal rings in a string. The metal rings on the chain have transverse rings and longitudinal rings, which are arranged alternately. The pull plate 23 is provided with bolt holes (not shown) located on the same horizontal plane near the bottom. The traction member 33 is provided with shackles adapted to the bolt holes (not shown) at both ends to assemble and fix the pull plate 23 and the traction member 33. Of course, the traction member 33 can also be a steel wire rope or the like.

[0053] At least one first limiting device 24 is provided in the area formed by the upper frame of the photovoltaic module and the upper opening of the purlin; at least one second limiting device 25 is provided in the area formed by the lower frame of the photovoltaic module and the lower opening of the purlin. The first limiting device 24 limits the limit position of the cleaning robot when it moves upward, and the second limiting device 25 limits the limit position of the cleaning robot when it moves downward. The first limiting device 24 includes an extension plate and a baffle at one end of the extension plate; the extension plate is assembled on the frame of two adjacent photovoltaic arrays, and two first limiting devices 24 can be symmetrically arranged to ensure the balance of force on the beam 20 when the robot is limited; in one embodiment of the present application, the second limiting device 25 has the same structure as the first limiting device 24, which includes an extension plate and a baffle at one end of the extension plate; the extension plate is assembled on the frame of two adjacent photovoltaic arrays, and two second limiting devices 25 can be symmetrically arranged to ensure the balance of force on the beam 20 when the robot is limited. The first limiting device 24 and the second limiting device 25 are provided to ensure the safety of the cleaning robot during operation, thereby preventing the robot from exceeding the set working area and causing damage to the equipment.

[0054] To prevent the traction member 33 from drooping under the action of gravity when the robot is working, the traction force demand on the first transmission wheel 31 and the second transmission wheel 32 is doubled, causing the friction between the traction member 33 and the first transmission wheel 31 and the second transmission wheel 32 to increase sharply. On the one hand, the wear of the traction member 33 is accelerated, affecting the service life of the robot, and on the other hand, the power of the product design needs to be increased, thereby increasing the cost of the product. To overcome this defect, in one embodiment of the present application, at least one lifting device 4 of the traction member 33 is provided between the first transmission wheel 31 and the second transmission wheel 32 on the same side of the photovoltaic module purlin to reduce / avoid the drooping of the traction member 33.

[0055] Specifically, the lifting device 4 includes a pulley block consisting of a first pulley 41 and a second pulley 42. The second pulley 42 is located below the first pulley 41 and at least part of the wheel body is located in the wheel groove of the first pulley 41, and the traction member 33 can slide in the wheel grooves of the first pulley 41 and the second pulley 42. On the one hand, the lifting device 4 is set as a pulley block to reduce the energy loss caused by the relative movement of the lifting device 4 and the traction member 33. On the other hand, the lifting device 4 is set to eliminate the drooping phenomenon of the traction member 33 in the direction of gravity, which can effectively reduce the cost of the robot while ensuring the normal energy efficiency of the system.

[0056] The above is only a preferred embodiment of the present application and does not constitute any form of limitation to the present application. Although the present application has been disclosed as a preferred embodiment as above, it is not intended to limit the present application. Any technician familiar with the profession can make some changes or modify the technical contents disclosed above into equivalent embodiments without departing from the scope of the technical solution of the present application. However, any simple modification, equivalent change and modification made to the above embodiments based on the technical essence of the present application without departing from the content of the technical solution of the present application still falls within the scope of the technical solution of the present application.

Claims

1. A high-efficiency photovoltaic cleaning robot for cleaning a photovoltaic array, characterized in that: It includes a driving motor, a transmission device connected to the driving motor, and a cleaning mechanism arranged on the photovoltaic array; the transmission device drives the cleaning mechanism to reciprocate on the upper surface of the photovoltaic array, the transmission device includes a first transmission wheel and a second transmission wheel connected to each other, and a traction member sleeved on the first transmission wheel and the second transmission wheel and fixedly connected to the cleaning mechanism, the first transmission wheel is arranged at the upper end of the purlins on the left and right sides, and the second transmission wheel is arranged at the lower end of the purlins on the left and right sides; and the first transmission wheel and the second transmission wheel are both suspended below the purlins along the direction of gravity so that the movement direction of the traction member is perpendicular to the direction of gravity.

2. The high-efficiency photovoltaic cleaning robot according to claim 1, characterized in that: The first transmission wheel is assembled to the upper end of the purlin through a first mounting seat, and the second transmission wheel is assembled to the lower end of the purlin through a second mounting seat. The first mounting seat forms a compensation angle α, and the second mounting seat forms a compensation angle β, wherein α and β are complementary; the first mounting seat and the second mounting seat on the same side have the same compensation angle.

3. The high-efficiency photovoltaic cleaning robot according to claim 2, characterized in that: The first mounting seat includes a first assembling portion assembled with the purlin and a second assembling portion assembled with the first transmission wheel, the first assembling portion is provided with an assembling groove, the second assembling portion is provided with a first assembling hole and a first axial hole, and the second assembling portion is bent and extended downward along one end of the first assembling portion to form an angle α.

4. The high-efficiency photovoltaic cleaning robot according to claim 2, characterized in that: The second mounting seat includes a third assembling portion assembled with the purlin and a fourth assembling portion assembled with the second transmission wheel, the third assembling portion is provided with an assembling groove, the fourth assembling portion is provided with a second assembling hole and a second axial hole, and the fourth assembling portion is bent and extended downward along one end of the third assembling portion to form an angle β.

5. The high energy efficiency photovoltaic cleaning robot according to any one of claims 1 to 4, characterized in that: The driving motor is arranged on a motor support frame, and the motor support frame is arranged below the purlin and fixedly assembled with the bottom surface of the purlin. The first transmission wheel is a driving wheel, and the second transmission wheel is a driven wheel. The first transmission wheel is a gear, and the second transmission wheel is a pulley.

6. The high-efficiency photovoltaic cleaning robot according to claim 5, characterized in that: The two ends of the motor shaft of the driving motor are respectively connected to the first transmission shaft and the second transmission shaft through couplings, and the other ends of the first transmission shaft and the second transmission shaft are respectively connected to the rotating shaft of the first transmission wheel through universal joint couplings.

7. The high-efficiency photovoltaic cleaning robot according to any one of claims 1 to 4 or 6, characterized in that: At least one lifting device for the traction member is provided between the first transmission wheel and the second transmission wheel on the same side of the purlin.

8. The photovoltaic cleaning robot according to claim 7, characterized in that: The lifting device includes a pulley group consisting of a first pulley and a second pulley, the second pulley is located below the first pulley and at least a portion of the wheel body is located in the wheel groove of the first pulley, and the traction member can slide in the wheel grooves of the first pulley and the second pulley.

9. The photovoltaic cleaning robot according to claim 8, characterized in that: The traction member is a chain formed by connecting a number of metal rings in a string. The metal rings on the chain have transverse rings and longitudinal rings. The transverse rings and the longitudinal rings are alternately arranged. The cleaning mechanism includes a crossbeam, a cleaning member arranged on the crossbeam for cleaning the photovoltaic array, and a walking device arranged at both ends of the crossbeam. The walking device includes a pull plate fixed to the crossbeam at one end and to the chain at the other end.

10. The photovoltaic cleaning robot according to claim 9, characterized in that: The walking device also includes a positive pressure wheel pressed against the top surface of the purlin and a side pressure wheel pressed against the outer side surface of the purlin, the first transmission wheel is a gear, the second transmission wheel is a pulley, and at least one first limiting device is provided in the area formed by the upper frame of the photovoltaic module and the upper opening of the purlin; at least one second limiting device is provided in the area formed by the lower frame of the photovoltaic module and the lower opening of the purlin.

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