Robot

Abstract

The utility model discloses a robot which comprises a first vehicle body and a second vehicle body, the two vehicle bodies are rotatably connected through a universal joint and a hinge, and when height difference exists on the surface of a photovoltaic module to be cleaned, the first vehicle body or the second vehicle body can rotate around the universal joint and the hinge through the weight of the first vehicle body or the second vehicle body. The robot can clean uneven photovoltaic modules, and the cleaning efficiency is improved; the first vehicle body comprises a first power mechanism and a fourth wheel, the second vehicle body further comprises a second power mechanism and a third power mechanism, and the first power mechanism and the second power mechanism enable the robot to move on the smooth surface assembly. The robot can move on the bridging assembly through the third power mechanism and the fourth wheel. The robot has the advantages that photovoltaic modules with obstacle crossing obstacles are automatically crossed, the robot is prevented from being manually moved, and the labor cost and the time cost are saved.

Description

Technical Field

[0001] The utility model relates to the technical field of photovoltaic cleaning, in particular to a robot. Background Art

[0002] As a renewable and clean energy, solar photovoltaic has become an important force in today's global energy transformation. The surface of solar panels is prone to accumulation of sand, dust and other dirt. If not cleaned in a timely, scientific and professional manner, it can cause the power generation of the components to attenuate by up to 40% to 60%, and the power generation to drop by 20% to 30%. Therefore, the concept of improving the power generation and efficiency of power stations by cleaning solar panels reasonably and scientifically and maintaining the components carefully has been recognized by the industry.

[0003] The traditional cleaning method requires more manpower and material resources, and has low cleaning efficiency, high water consumption, and high overall cost. In addition, large ground power stations built in the western region require long-term and frequent cleaning, and water is inconvenient, so it is not very realistic to clean photovoltaic modules by manpower.

[0004] Existing photovoltaic module cleaning robots are often unable to pass normally due to obstacles such as the settlement, misalignment and height difference of photovoltaic modules, and have low cleaning efficiency. They cannot effectively solve the photovoltaic module cleaning problem, which seriously affects the power generation efficiency of photovoltaic modules. Utility Model Content

[0005] The utility model provides a robot for solving the problem that when there is a high level difference in a photovoltaic component, the cleaning efficiency is low, and when there is an obstacle in the photovoltaic component, the robot cannot cross it autonomously.

[0006] In order to solve the above technical problems, the utility model discloses the following technical solutions:

[0007] The utility model provides a robot, comprising a first body, a second body, two universal joints and at least one hinge.

[0008] The first vehicle body is in the shape of an elongated strip, including two first long sides and two first short sides, two first roller brushes are respectively arranged on the two first long sides, and a first mounting plate and a second mounting plate are respectively arranged on the two first short sides; the second vehicle body is in the shape of an elongated strip, including two second long sides and two second short sides, two second roller brushes are respectively arranged on the two second long sides, and a third mounting plate and a fourth mounting plate are respectively arranged on the two second short sides; the universal joint includes a driving shaft, a driven shaft and a universal joint fork, the driving shaft is connected to the second roller brush, the driven shaft is connected to the first roller brush, the driving shaft and the driven shaft are rotatably connected together by the universal joint fork, and the first roller brush and the second roller brush are coaxially connected by the universal joint; the hinge includes a first page plate and a second page plate, the first page plate is rotatably mounted to the second page plate, the first page plate is mounted to the second mounting plate, and the second page plate is mounted to the third mounting plate.

[0009] Furthermore, the robot further includes at least one sensor and a reset device. The sensor is distributed at the bottom of the first body and the bottom of the second body; the reset device includes a mounting shaft and a spring, one end of the mounting shaft passes through the second mounting plate and the third mounting plate in sequence, the spring is sleeved on the mounting shaft, and the second mounting plate and the third mounting plate are arranged between one end of the mounting shaft and the spring.

[0010] Furthermore, the first vehicle body includes a first long board and a first rectangular frame, the first long board is installed to the top of the first rectangular frame, an electric control box is installed on the first long board, the electric control box is fixedly connected to the first rectangular frame, and the top of the electric control box protrudes from the first long board.

[0011] Furthermore, the second vehicle body includes a second long strip and a second rectangular frame, the second long strip is mounted to the top of the second rectangular frame, at least one photovoltaic module is mounted on the second long strip, and the photovoltaic module is connected to the electric control box via a wire.

[0012] Furthermore, the robot also includes a first power mechanism, which is installed on one side of the first mounting plate, and the first power mechanism includes a first wheel, a first wheel motor, a first gear, a second gear and a transmission belt.

[0013] The first wheel is rotatably mounted to a side of the first mounting plate facing the third mounting plate; the first wheel includes a first axle, which passes through the first mounting plate and extends to a side of the first mounting plate away from the third mounting plate; the travel direction of the first wheel is perpendicular to the extension direction of the robot; the first wheel motor is mounted to a side of the first mounting plate facing the third mounting plate; the first wheel motor includes a first power output shaft, which passes through the first mounting plate and extends to a side of the first mounting plate away from the third mounting plate; the first gear is arranged on a side of the first mounting plate away from the third mounting plate and is fixed to the first wheel axle; the second gear is arranged on a side of the first mounting plate away from the third mounting plate and is fixed to the first power output shaft; the transmission belt is sleeved on the axle surface of the first gear and the second gear, and a gear ring is provided on the inner side wall of the transmission belt, which meshes with the first gear and the second gear.

[0014] Furthermore, the robot also includes a second power mechanism, which is installed on one side of the fourth mounting plate, and the second power mechanism includes a first wheel, a first wheel motor, a first gear, a second gear and a transmission belt.

[0015] The first wheel is rotatably mounted to a side of the fourth mounting plate facing the third mounting plate; the first wheel includes a first axle, which passes through the fourth mounting plate and extends to a side of the fourth mounting plate away from the third mounting plate; the travel direction of the first wheel is perpendicular to the extension direction of the robot; the first wheel motor is mounted to a side of the fourth mounting plate facing the third mounting plate; the first wheel motor includes a first power output shaft, which passes through the fourth mounting plate and extends to a side of the fourth mounting plate away from the third mounting plate; the first gear is arranged on a side of the fourth mounting plate away from the third mounting plate and is fixed to the first wheel axle; the second gear is arranged on a side of the fourth mounting plate away from the third mounting plate and is fixed to the first power output shaft; the transmission belt is sleeved on the axle surface of the first gear and the second gear, and a gear ring is provided on the inner side wall of the transmission belt, which meshes with the first gear and the second gear.

[0016] Furthermore, the robot also includes a third power mechanism, which is installed to the second power mechanism through a bracket, and the third power mechanism includes a second wheel, a second wheel motor, a first gear, a second gear and a transmission belt.

[0017] The bracket includes a base plate, and the second wheel is rotatably mounted to the bracket; the second wheel includes a second axle, which passes through the base plate and extends to the side of the base plate away from the second power mechanism; the travel direction of the second wheel is perpendicular to the extension direction of the robot; the second wheel motor is installed to the side of the base plate facing the second power mechanism; the second wheel motor includes a second power output shaft, which passes through the base plate and extends to the side of the base plate away from the second power mechanism; the first gear is arranged on the side of the base plate away from the second power mechanism and is fixed to the second axle; the second gear is arranged on the side of the base plate away from the second power mechanism and is fixed to the second power output shaft; the transmission belt is sleeved on the axle surface of the first gear and the second gear, and the inner side wall of the transmission belt is provided with a gear ring, which meshes with the first gear and the second gear.

[0018] Furthermore, the robot also includes a third wheel and an L-shaped bracket.

[0019] The third wheel includes a third axle, which is coaxially connected to the first wheel of the second power mechanism by a connecting rod; the L-shaped bracket includes a horizontal plate and a vertical plate that are perpendicular to each other, the top of the vertical plate is fixed to the bottom plate, and the horizontal plate extends toward the first mounting plate.

[0020] Furthermore, the robot further comprises a fixed bracket and a fourth wheel. One end of the fixed bracket is mounted to the first mounting plate; and the fourth wheel is rotatably mounted to the other end of the fixed bracket.

[0021] Furthermore, the robot also includes two power devices, which are respectively installed at one end of the second long side facing the first vehicle body, and the power devices include a roller brush motor, two third gears and a transmission belt.

[0022] The roller brush motor is fixed to one end of the second long side close to the first vehicle body; a third gear is installed to the third power output shaft of the roller brush motor, and another third gear is installed to the roller brush rotating shaft of the second roller brush; the transmission belt is sleeved on the axle surface of the third gear, and a gear ring is provided on the inner side wall of the transmission belt, which meshes with the third gear.

[0023] Compared with the prior art, the utility model has at least the following technical effects:

[0024] The present invention provides a robot, comprising a first body and a second body, the two bodies being rotatably connected by a universal joint and a hinge, when there is a height difference between photovoltaic components to be cleaned, the first body or the second body can rotate around the universal joint and the hinge by its own weight, so that the robot can clean uneven photovoltaic components and improve cleaning efficiency; and the first body comprises a first power mechanism and a fourth wheel, the second body also comprises a second power mechanism and a third power mechanism, the first power mechanism and the second power mechanism enable the robot to move on a smooth panel, when the robot needs to cross between two photovoltaic components through a bridge component, at this time the first power mechanism and the second power mechanism fall into the air and have no fulcrum, the third power mechanism and the fourth wheel enable the robot to move on the bridge component, autonomously cross the photovoltaic components with obstacles, avoid manual movement of the robot, and save labor costs and time costs. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] The technical solution of the utility model is described in detail below in conjunction with the accompanying drawings and specific embodiments.

[0026] Figure 1 This is a schematic diagram of the overall structure of the robot according to an embodiment of the utility model;

[0027] Figure 2 It is a schematic diagram of the structure of the photovoltaic assembly and the bridge assembly according to the embodiment of the utility model;

[0028] Figure 3 The schematic diagram of the partial structure of the robot described in the embodiment of the utility model is as follows Figure 1 ;

[0029] Figure 4 The overall structure of the robot described in the embodiment of the utility model is shown in FIG. Figure 2 ;

[0030] Figure 5 It is a schematic diagram of the overall structure of the universal joint described in the embodiment of the utility model;

[0031] Figure 6 This is a schematic diagram of the overall structure of the hinge according to an embodiment of the utility model;

[0032] Figure 7 This is a schematic diagram of the overall structure of the first power mechanism described in an embodiment of the utility model;

[0033] Figure 8 The schematic diagram of the partial structure of the robot described in the embodiment of the utility model is as follows Figure 3 ;

[0034] Fig. 9This is a schematic diagram of the overall structure of the second power mechanism described in an embodiment of the utility model;

[0035] Fig.10 The schematic diagram of the partial structure of the robot described in the embodiment of the utility model is as follows Figure 4 .

[0036] The components in the figure are marked as follows:

[0037] 10 robot, 11 first vehicle body, 12 second vehicle body, 13 universal joint, 14 hinge, 15 sensor, 16 reset device, 17 first power mechanism, 18 second power mechanism, 19 third power mechanism, 20 power device;

[0038] 100 photovoltaic modules;

[0039] 111 first long side, 112 first short side, 113 first roller brush, 114 first mounting plate, 115 second mounting plate, 116 first long strip plate, 117 first rectangular frame, 118 electric control box;

[0040] 121 second long side, 122 second short side, 123 second roller brush, 124 third mounting plate, 125 fourth mounting plate, 126 second long strip plate, 127 second rectangular frame, 128 photovoltaic module;

[0041] 131 driving shaft, 132 driven shaft, 133 universal joint fork;

[0042] 141 first page plate, 142 second page plate;

[0043] 161 mounting shaft, 162 spring;

[0044] 171 a first wheel, 172 a first wheel motor, 173 a first gear, 174 a second gear, 175 a transmission belt, 176 a fixing bracket, 177 a fourth wheel;

[0045] 191 bracket, 192 second wheel, 193 second wheel motor, 194 bottom plate, 195 third wheel, 196 L-shaped bracket, 197 connecting rod, 198 horizontal plate, 199 vertical plate;

[0046] 200 bridge components;

[0047] 201 roller brush motor, 202 third gear, 203 roller brush shaft. DETAILED DESCRIPTION

[0048] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions 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 in 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.

[0049] 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.

[0050] 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.

[0051] like Figure 1-Figure 4 As shown, the utility model provides a robot 10 for cleaning dust on a photovoltaic module 100, and different photovoltaic modules 100 are connected by a bridge module 200. The robot 10 can move from one photovoltaic module 100 to another photovoltaic module 100 through the bridge module 200. The robot 10 includes a first body 11, a second body 12, two universal joints 13 and at least one hinge 14.

[0052] The first vehicle body 11 is in an elongated shape and includes two first long sides 111 and two first short sides 112 . Two first roller brushes 113 are respectively disposed on the two first long sides 111 . A first mounting plate 114 and a second mounting plate 115 are respectively disposed on the two first short sides 112 .

[0053] Furthermore, the first vehicle body 11 includes a first long strip 116 and a first rectangular frame 117. The first long strip 116 is installed to the top of the first rectangular frame 117. An electric control box 118 is installed on the first long strip 116. The electric control box 118 is fixedly connected between the first rectangular frame 117. The top of the electric control box 118 protrudes from the first long strip 116. The electric control box 118 can control the movement of the first vehicle body 11 and the second vehicle body 12 respectively.

[0054] The second vehicle body 12 is in a long strip shape and includes two second long sides 121 and two second short sides 122 . Two second roller brushes 123 are respectively disposed on the two second long sides 121 . A third mounting plate 124 and a fourth mounting plate 125 are respectively disposed on the two second short sides 112 .

[0055] Furthermore, the second vehicle body 12 includes a second long strip 126 and a second rectangular frame 127. The second long strip 126 is installed on the top of the second rectangular frame 127. At least one photovoltaic component 128 is installed on the second long strip 126. The photovoltaic component 128 is connected to the electric control box 118 through a wire. The photovoltaic component 128 converts light energy into electrical energy and transmits the electrical energy to the electric control box 118, so that the electric control box 118 provides power for the movement of the robot 10, thereby realizing the autonomous movement of the robot 10.

[0056] like Figure 5 As shown, the universal joint 13 includes a driving shaft 131, a driven shaft 132 and a universal joint fork 133. The driving shaft 131 is connected to the second roller brush 123, and the driven shaft 132 is connected to the first roller brush 113. The driving shaft 131 and the driven shaft 132 are rotatably connected together by the universal joint fork 133. The first roller brush 113 and the second roller brush 123 are coaxially connected by the universal joint 13. The first roller brush 113 and the second roller brush 123 can rotate through the universal joint fork 133 to ensure that when the first vehicle body 11 and the second vehicle body 12 rotate, the first roller brush 113 and the second roller brush 123 can rotate synchronously through the universal joint 13 to ensure the first roller brush 113 and the second roller brush 123.

[0057] like Figure 4 as well as Figure 6 As shown, the hinge 14 includes a first page plate 141 and a second page plate 142, the first page plate 141 can be rotatably mounted to the second page plate 142, the first page plate 141 is mounted to the second mounting plate 115, and the second page plate 142 is mounted to the third mounting plate 124. When the robot 10 moves on the photovoltaic component 100 with a height difference, if the bottom of the first body 11 or the second body 12 falls, the first body 11 or the second body 12 can rotate through the hinge 14 by virtue of its own weight, thereby ensuring that the first roller brush 113 and the second roller brush 123 are always in contact with the surface of the photovoltaic component 100, thereby improving the cleaning efficiency.

[0058] like Figure 3-Figure 4As shown, the robot 10 further includes at least one sensor 15 and a reset device 16. The sensors 15 are distributed at the bottom of the first vehicle body 11 and the bottom of the second vehicle body 12. Specifically, the sensors 15 are fixed to the first rectangular frame 117 and the second rectangular frame 127. The sensors 15 can transmit signals to the surface of the photovoltaic module 100. The signals can also be received by the sensors 15 after rebounding. By calculating the time difference between the transmitted signal and the received signal, it is determined whether the bottom of the first vehicle body 11 and the bottom of the second vehicle body 12 are on the surface of the photovoltaic module 100. The reset device 16 includes a mounting shaft 161 and a spring 162. One end of the mounting shaft 161 passes through the second mounting plate 115 and the third mounting plate 124 in sequence. The spring 162 is sleeved on the mounting shaft 161, and the second mounting plate 115 and the third mounting plate 124 are arranged between one end of the mounting shaft 161 and the spring 162. When the surface of the photovoltaic component 100 gradually changes from having a height difference to being flat, the first body 11 and the second body 12 are supported by the bottom surface provided by the photovoltaic component 100 and rotate. During the recovery process, the elastic force generated by the deformation of the spring 162 of the reset device 16 can also restore the first body 11 and the second body 12, ensuring that the second mounting plate 115 and the third mounting plate 124 can be re-attached together, so that the robot 10 returns to its initial state.

[0059] like Figure 1 , Figure 3 as well as Figure 7 As shown, the robot 10 also includes a first power mechanism 17, which is mounted to one side of the first mounting plate 114. The first power mechanism 17 includes a first wheel 171, a first wheel motor 172, a first gear 173, a second gear 174 and a transmission belt 175.

[0060] The first wheel 171 is rotatably mounted to the side of the first mounting plate 114 facing the third mounting plate 124; the first wheel 171 includes a first wheel axle (not shown), which passes through the first mounting plate 114 and extends to the side of the first mounting plate 114 away from the third mounting plate 124; the travel direction of the first wheel 171 is perpendicular to the extension direction of the robot 10; the first wheel motor 172 is mounted to the side of the first mounting plate 114 facing the third mounting plate 124; the first wheel motor 172 includes a first power output shaft (not shown), which passes through the first mounting plate 114 and extends to the side of the first mounting plate 114 away from the third mounting plate 124; the first gear 173 is provided on the side of the first mounting plate 114 away from the third mounting plate 124 side, and fixed to the first wheel axle (not shown); the second gear 174 is arranged on the side of the first mounting plate 114 away from the third mounting plate 124, and is fixed to the first power output shaft (not shown); the transmission belt 175 is sleeved on the axle surface of the first gear 173 and the second gear 174, and the inner wall of the transmission belt 175 is provided with a gear ring (not shown), which is engaged with the first gear 173 and the second gear 174. The electric control box 118 can control the first power output shaft (not shown) of the first wheel motor 172 to rotate and drive the second gear 174 to rotate. The rotation of the second gear 174 drives the two first gears 173 to rotate through the transmission belt 175. The rotation of the two first gears 173 drives the first wheel 171 to rotate, thereby realizing the autonomous movement of the robot 10 on the photovoltaic component 100.

[0061] like Figure 1 , Figure 3 , Figure 7 as well as Figure 8 The robot 10 also includes a second power mechanism 18, which has the same structure as the first power mechanism 17, except that the second power mechanism 18 is installed on one side of the fourth mounting plate 125, but the second power mechanism 18 also includes a first wheel 171, a first wheel motor 172, a first gear 173, a second gear 174 and a transmission belt 175.

[0062] The first wheel 171 is rotatably mounted to the side of the fourth mounting plate 125 facing the third mounting plate 124; the first wheel 171 includes a first wheel axle (not shown), which passes through the fourth mounting plate 125 and extends to the side of the fourth mounting plate 125 away from the third mounting plate 124; the travel direction of the first wheel 171 is perpendicular to the extension direction of the robot 10; the first wheel motor 172 is mounted to the side of the fourth mounting plate 125 facing the third mounting plate 124; the first wheel motor 172 includes a first power output shaft (not shown), the first power output shaft (not shown) passes through the fourth mounting plate 125, and extends to the side of the fourth mounting plate 125 away from the third mounting plate 124; the first gear 173 is arranged on the side of the fourth mounting plate 125 away from the third mounting plate 124, and is fixed to the first wheel axle (not shown); the second gear 174 is arranged on the fourth mounting plate 125 is on the side away from the third mounting plate 124 and is fixed to the first power output shaft (not shown); the transmission belt 175 is sleeved on the axle surfaces of the first gear 173 and the second gear 174, and the inner wall of the transmission belt 175 is provided with a gear ring (not shown), which meshes with the first gear 173 and the second gear 174. The electric control box 118 can control the first power output shaft (not shown) of the first wheel motor 172 to rotate and drive the second gear 174 to rotate. The rotation of the second gear 174 drives the two first gears 173 to rotate through the transmission belt 175. The rotation of the two first gears 173 drives the first wheel 171 to rotate, thereby realizing the autonomous movement of the robot 10 on the photovoltaic component 100. The electric control box 118 can control the second power mechanism 18 to move synchronously with the first power mechanism 17, and can also control the second power mechanism 18 and the first power mechanism 17 to move separately.

[0063] like Figure 3 as well as Figure 8-Figure 9 As shown, the robot 10 also includes a third power mechanism 19, which is mounted to the second power mechanism 18 via a bracket 191. The third power mechanism 19 includes a second wheel 192, a second wheel motor 193, a first gear 173, a second gear 174 and a transmission belt 175.

[0064] The bracket 191 includes a base plate 194, and the second wheel 192 is rotatably mounted to the bracket 191; the second wheel 192 includes a second wheel axle (not shown), which passes through the base plate 194 and extends to the side of the base plate 194 away from the second power mechanism 18; the travel direction of the second wheel 192 is perpendicular to the extension direction of the robot 10; the second wheel 192 motor is mounted to the side of the base plate 194 facing the second power mechanism 18; the second wheel motor 193 includes a second power output shaft (not shown), which passes through the base plate 194 and extends to the base plate 194 away from the second power mechanism 18; the first gear 173 is arranged on the side of the bottom plate 194 away from the second power mechanism 18, and is fixed to the second axle (not shown); the second gear 174 is arranged on the side of the bottom plate 194 away from the second power mechanism 18, and is fixed to the second power output shaft (not shown); the transmission belt 175 is sleeved on the axle surface of the first gear 173 and the second gear 174, and the inner wall of the transmission belt 175 is provided with a gear ring, which meshes with the first gear 173 and the second gear 174. The transmission mode of the third power mechanism 19 is consistent with that of the second power mechanism 18, which will not be repeated here. The third power mechanism 19 is used to move at the edge of the photovoltaic component 100.

[0065] Another example Fig. 9 As shown, the robot 10 further includes a third wheel 195 and an L-shaped bracket 196 .

[0066] The third wheel 195 includes a third wheel axle (not shown), which is coaxially connected to the first wheel 171 of the second power mechanism 18 by a connecting rod 197. The rotation of the first wheel 171 drives the third wheel 195 to rotate through the connecting rod 197. Two groups of first wheels 171 and one group of third wheels 195 ensure that the robot 10 can move stably on the photovoltaic component 100; the L-shaped bracket 196 includes a horizontal plate 198 and a vertical plate 199 perpendicular to each other. The top of the vertical plate 199 is fixed to the bottom plate 194, and the horizontal plate 198 extends toward the direction of the first mounting plate 114. The L-shaped bracket 196 ensures that one end of the robot 10 is fixed to the edge of the photovoltaic component 100 and will not fall off.

[0067] Another example Figure 7 As shown, the robot 10 further includes a fixed bracket 176 and a fourth wheel 177. One end of the fixed bracket 176 is mounted to the first mounting plate 114; the fourth wheel 177 is rotatably mounted to the other end of the fixed bracket 176, and the fourth wheel 177 and the fixed bracket 176 can be engaged with the edge of the photovoltaic assembly 100 to ensure that one end of the robot 10 is fixed to the edge of the photovoltaic assembly 100 and will not fall off, and the fourth wheel 177 is used to move at the edge of the photovoltaic assembly 100.

[0068] like Figure 4 as well as Fig.10As shown, the robot 10 further includes two power devices 20 , which are respectively installed at one end of the second long side 121 facing the first vehicle body 11 , and the power device 20 includes a roller brush motor 201 , two third gears 202 and a transmission belt 175 .

[0069] The roller brush motor 201 is fixed to one end of the second long side 121 close to the first vehicle body 11; a third gear 202 is installed to the third power output shaft (not shown) of the roller brush motor 201, and another third gear 202 is installed to the roller brush shaft 203 of the second roller brush 123; the transmission belt 175 is sleeved on the axle surface of the third gear 202, and the inner wall of the transmission belt is provided with a gear ring, which meshes with the third gear 202. The electrical control box 118 can control the third power output shaft (not shown) of the roller brush motor 201 to rotate and drive the third gear 202 to rotate, thereby driving the roller brush shaft 203 of the second roller brush 123 to rotate, and the rotation of the second roller brush 123 drives the first roller brush 113 to rotate through the universal joint 13.

[0070] In the application scenario of the utility model, for example, when the robot 10 moves on a flat photovoltaic component 100, the two first power mechanisms 17 and the second power mechanism 18 are started synchronously. At this time, the third power mechanism 19 and the fourth wheel 177 are located at the edge of the photovoltaic component 100. When the robot 10 moves on a photovoltaic component 100 with a height, the first vehicle body 11 or the second vehicle body 11 rotates through the universal joint 13 and the hinge 14, so that the first roller brush 113 of the first vehicle body 11 and the second roller brush 123 of the second vehicle body 11 are always in contact with the surface of the photovoltaic component 100.

[0071] When the robot 10 is on the bridge assembly 200, the two first power mechanisms 17 and the second power mechanism 18 are turned off, and the third power mechanism 19 is started. The fourth wheel 177 can move synchronously with the third power mechanism 19, so that the robot 10 can autonomously cross the bridge assembly 200 until the sensors 15 on the first vehicle body 11 and the second vehicle body 11 resynchronize and receive signals, and then the two first power mechanisms 17 and the second power mechanism 18 are started to move on another photovoltaic assembly 100.

[0072] The advantage of the present application is that a robot is provided, comprising a first body and a second body, the two bodies being rotatably connected by universal joints and hinges, when there is a height difference between the photovoltaic components to be cleaned, the first body or the second body can rotate around the universal joints and the hinges by its own weight, so that the robot can clean uneven photovoltaic components and improve the cleaning efficiency; and the first body comprises a first power mechanism and a fourth wheel, the second body also comprises a second power mechanism and a third power mechanism, the first power mechanism and the second power mechanism enable the robot to move on a smooth panel, when the robot needs to cross between two photovoltaic components through a bridging component, at this time the first power mechanism and the second power mechanism fall into the air and have no fulcrum, the third power mechanism and the fourth wheel enable the robot to move on the bridging component, autonomously cross the photovoltaic components with obstacles, avoid manual movement of the robot, and save labor costs and time costs.

[0073] The above is a detailed introduction to a robot provided by an embodiment of the utility model. Specific examples are used in this article to illustrate the principle and implementation mode of the utility model. The description of the above embodiments is only used to help understand the technical solution and core idea of ​​the utility model. Ordinary technicians in this field should understand that they can still modify the technical solutions 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 solutions deviate from the scope of the technical solutions of the embodiments of the utility model.

Claims

1. A robot, characterized in that: include: The first vehicle body is in a long strip shape and includes two first long sides and two first short sides, two first roller brushes are respectively arranged on the two first long sides, and a first mounting plate and a second mounting plate are respectively arranged on the two first short sides; The second vehicle body is in a long strip shape and includes two second long sides and two second short sides, two second roller brushes are respectively arranged on the two second long sides, and a third mounting plate and a fourth mounting plate are respectively arranged on the two second short sides; Two universal joints, including a driving shaft, a driven shaft and a universal joint fork, the driving shaft is connected to the second roller brush, the driven shaft is connected to the first roller brush, the driving shaft and the driven shaft are rotatably connected together by the universal joint fork, and the first roller brush and the second roller brush are coaxially connected by the universal joint; At least one hinge includes a first page plate and a second page plate, wherein the first page plate is rotatably mounted to the second page plate, the first page plate is mounted to the second mounting plate, and the second page plate is mounted to the third mounting plate.

2. The robot according to claim 1, characterized in that: Also includes at least one sensor, distributed at the bottom of the first vehicle body and the bottom of the second vehicle body; and The reset device comprises a mounting shaft and a spring, wherein one end of the mounting shaft passes through a second mounting plate and a third mounting plate in sequence, the spring is sleeved on the mounting shaft, and the second mounting plate and the third mounting plate are arranged between one end of the mounting shaft and the spring.

3. The robot according to claim 1, characterized in that: The first vehicle body includes a first long board and a first rectangular frame, the first long board is installed to the top of the first rectangular frame, an electric control box is installed on the first long board, the electric control box is fixedly connected to the first rectangular frame, and the top of the electric control box protrudes from the first long board.

4. The robot according to claim 1, characterized in that: The second vehicle body includes a second long strip and a second rectangular frame. The second long strip is installed on the top of the second rectangular frame. At least one photovoltaic module is installed on the second long strip. The photovoltaic module is connected to the electric control box through a wire.

5. The robot according to claim 1, characterized in that: Also includes A first power mechanism, the first power mechanism is mounted on one side of the first mounting plate, and the first power mechanism comprises: a first wheel rotatably mounted to a side of the first mounting plate facing the third mounting plate; the first wheel comprises a first wheel axle, passing through the first mounting plate and extending to a side of the first mounting plate facing away from the third mounting plate; a moving direction of the first wheel is perpendicular to an extending direction of the robot; A first wheel motor is mounted on a side of the first mounting plate facing the third mounting plate; the first wheel motor comprises a first power output shaft, the first power output shaft passes through the first mounting plate and extends to a side of the first mounting plate facing away from the third mounting plate; A first gear, disposed on a side of the first mounting plate away from the third mounting plate, and fixed to the first wheel shaft; a second gear, disposed on a side of the first mounting plate away from the third mounting plate and fixed to the first power output shaft; and A transmission belt is sleeved on the axle surfaces of the first gear and the second gear, and the transmission belt has The side wall is provided with a gear ring which meshes with the first gear and the second gear.

6. The robot according to claim 1, characterized in that: Also included is a second power mechanism, which is mounted to one side of the fourth mounting plate, and the second power mechanism includes: a first wheel rotatably mounted to a side of the fourth mounting plate facing the third mounting plate; the first wheel comprises a first wheel axle, passing through the fourth mounting plate and extending to a side of the fourth mounting plate facing away from the third mounting plate; a moving direction of the first wheel is perpendicular to an extending direction of the robot; A first wheel motor is mounted on a side of the fourth mounting plate facing the third mounting plate; the first wheel motor comprises a first power output shaft, the first power output shaft passes through the fourth mounting plate and extends to a side of the fourth mounting plate facing away from the third mounting plate; A first gear, disposed on a side of the fourth mounting plate away from the third mounting plate, and fixed to the first wheel shaft; a second gear, disposed on a side of the fourth mounting plate away from the third mounting plate and fixed to the first power output shaft; and A transmission belt is sleeved on the axle surfaces of the first gear and the second gear, and the transmission belt has The side wall is provided with a gear ring which meshes with the first gear and the second gear.

7. The robot according to claim 6, characterized in that: It also includes a third power mechanism, which is mounted to the second power mechanism via a bracket, and includes: a second wheel, the bracket comprising a bottom plate, the second wheel being rotatably mounted to the bracket; the second wheel comprising a second wheel axle, the second wheel axle passing through the bottom plate and extending to a side of the bottom plate away from the second power mechanism; the travel direction of the second wheel is perpendicular to the extension direction of the robot; a second wheel motor mounted on a side of the base plate facing the second power mechanism; the second wheel motor comprising a second power output shaft, the second power output shaft passing through the base plate and extending to a side of the base plate facing away from the second power mechanism; a first gear, disposed on a side of the bottom plate away from the second power mechanism and fixed to the second wheel shaft; a second gear, disposed on a side of the bottom plate away from the second power mechanism and fixed to the second power output shaft; and A transmission belt is sleeved on the axle surfaces of the first gear and the second gear, and the transmission belt has The side wall is provided with a gear ring which meshes with the first gear and the second gear.

8. The robot according to claim 7, characterized in that: Also includes A third wheel, comprising a third wheel axle, wherein the third wheel axle is coaxially connected to the first wheel of the second power mechanism by a connecting rod; as well as The L-shaped bracket comprises a transverse plate and a vertical plate which are perpendicular to each other, the top of the vertical plate is fixed to the bottom plate, and the transverse plate extends toward the first mounting plate.

9. The robot according to claim 1, characterized in that: Also includes a fixing bracket, one end of which is mounted to the first mounting plate; and The fourth wheel is rotatably mounted to the other end of the fixed bracket.

10. The robot according to claim 1, characterized in that: It also includes two power devices, which are respectively installed at one end of the second long side facing the first vehicle body, and the power devices include: A roller brush motor is fixed to one end of the second long side close to the first vehicle body; two third gears, one third gear is mounted to the third power output shaft of the roller brush motor, and the other third gear is mounted to the roller brush rotating shaft of the second roller brush; and A transmission belt is sleeved on the axle surface of the third gear, and a gear ring is provided on the inner side wall of the transmission belt to mesh with the third gear.

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