Driving wheel assembly and crawler-type photovoltaic cleaning robot

Abstract

The utility model provides a driving wheel assembly and a crawler-type photovoltaic cleaning robot, and the driving wheel assembly comprises a driving device which is provided with a driving connecting part, the part of the driving device located at the first side of the driving connecting part is a first driving part, and the part of the driving device located at the second side of the driving connecting part is a second driving part; an output shaft of the driving device extends out from one end, far away from the driving connecting part, of the first driving part; the driving wheel comprises a wheel body and an output shaft fixing part, the output shaft fixing part is connected with an output shaft of the driving device, and part of the structure of the first driving part extends into the space defined by the wheel body. And after the driving wheel assembly is installed on the robot body frame, the first driving part and the output shaft are both located on the outer side of the robot body frame, so that occupation of the internal space of the robot body frame is reduced, and then the size of the crawler-type photovoltaic cleaning robot is reduced. In addition, the length of the output shaft can be obviously shortened, so that the force arm of the output shaft is shorter, and the load stress borne by a bearing in the driving device is reduced.

Description

Technical Field

[0001] The utility model belongs to the technical field of photovoltaic cleaning robots, and particularly relates to a driving wheel assembly and a crawler-type photovoltaic cleaning robot. Background Art

[0002] As a representative of renewable energy, photovoltaic power stations have become an important part of the modern energy structure due to their advantages of environmental protection and renewability. Photovoltaic panels are exposed outdoors for a long time, and it is easy to accumulate dust and dirt, which affects the power generation efficiency. To solve this problem, photovoltaic cleaning robots have emerged. The working principle of photovoltaic cleaning robots is simple and efficient, and they can autonomously plan cleaning paths. They use specific cleaning devices such as brushes to easily remove the dirt on the surface of photovoltaic panels and ensure the efficient power generation of photovoltaic panels.

[0003] There are various forms of cleaning robots in the prior art. The more common ones are rail-mounted photovoltaic cleaning robots and crawler-type photovoltaic cleaning robots. Among them, the rail-mounted photovoltaic cleaning robot relies on the frame of the photovoltaic panel and is hung on the photovoltaic panel for row-by-row cleaning, mainly applied in centralized photovoltaic power stations. Due to its structural characteristics, the rail-mounted photovoltaic cleaning robot is more suitable for application in centralized photovoltaic power stations, but not suitable for distributed photovoltaic power stations.

[0004] The crawler-type photovoltaic cleaning robot adopts a crawler chassis structure, usually configured with single-head or double-head rotary brushes, and uses autonomous or remote control methods to clean photovoltaic panels. Due to its small and flexible structure, it is more suitable for application in distributed photovoltaic power stations.

[0005] The driving wheel assembly of the traveling mechanism of the crawler-type photovoltaic cleaning robot includes a driving device and a driving wheel. The driving wheel is fixed on the output shaft of the driving device. The driving device is fixed on the side beam of the fuselage frame of the fuselage. The output shaft of the driving device extends to the outside of the side beam of the fuselage, and the driving wheel is fixed on the output shaft, so that the driving wheel is located outside the side beam of the fuselage, while the driving device is located inside the side beam of the fuselage, so that all are accommodated inside the fuselage frame, occupying a large amount of internal space of the fuselage frame. Therefore, a wider fuselage frame is required, resulting in a wider width of the crawler-type photovoltaic cleaning robot and increasing the body weight.

[0006] In order to ensure sufficient driving force for the crawler and avoid slipping, the driving wheel needs to have sufficient width. The part where the driving wheel is connected to the output shaft of the driving device is in the middle of the width direction of the driving wheel. Therefore, the output shaft of the driving device needs to have sufficient length to connect with the driving wheel. Since the output shaft of the driving device is long, the moment arm of the output shaft is large, and the bearings inside the driving device need to bear greater load stress.

[0007] Therefore, how to reduce the occupancy of the internal space of the fuselage frame by the drive device, reduce the width of the fuselage frame, and at the same time reduce the load stress borne by the bearings inside the drive device is an urgent problem to be solved by those skilled in the art. Summary of the Invention

[0008] In view of this, an object of the present invention is to provide a drive wheel assembly to reduce the occupancy of the internal space of the fuselage frame by the drive device, reduce the width of the fuselage frame, and at the same time reduce the load stress borne by the bearings inside the drive device;

[0009] Another object of the present invention is to provide a crawler-type photovoltaic cleaning robot having the above drive wheel assembly.

[0010] To achieve the above object, the present invention provides the following technical solutions:

[0011] A drive wheel assembly, comprising:

[0012] A drive device, the drive device is provided with a drive connection part, the drive connection part is used for installation to the installation position to be installed, the part of the drive device on the first side of the drive connection part is the first drive part, the part on the second side of the drive connection part is the second drive part, and the output shaft of the drive device extends out from the end of the first drive part away from the drive connection part;

[0013] A drive wheel, the drive wheel includes a wheel body and an output shaft fixing part located inside the wheel body, the output shaft fixing part is torque-connected to the output shaft of the drive device, and part of the structure of the first drive part extends into the space enclosed by the wheel body.

[0014] Optionally, in the above drive wheel assembly, the output shaft fixing part is located in the middle area in the width direction of the wheel body, or the output shaft fixing part is located on one side of the wheel body close to and away from the drive connection part along the width direction.

[0015] Optionally, in the above drive wheel assembly, the shaft end of the output shaft of the drive device extends outside the output shaft fixing part, and the output shaft fixing part is axially limited by an axial limiting member provided at the shaft end of the output shaft of the drive device.

[0016] Optionally, in the above drive wheel assembly, a limiting member protection cover is provided on the output shaft fixing part, and the limiting member protection cover covers the outside of the axial limiting member.

[0017] Optionally, in the above-mentioned driving wheel assembly, the output shaft fixing portion is a stepped shaft structure, and the shaft section facing the limit member protective cover is a large diameter shaft section, and the shaft section facing the driving device is a small diameter shaft section, and the fastener fixing the limit member protective cover is fastened to the large diameter shaft section.

[0018] Optionally, in the above-mentioned driving wheel assembly, the driving device comprises a driving motor and a reducer, the driving motor and the reducer are drivingly connected, wherein the output shaft of the driving device is the output shaft of the reducer; and / or,

[0019] The driving connection portion is a connecting flange.

[0020] Optionally, in the above-mentioned driving wheel assembly, the driving connection portion is located at an end of the reducer close to the driving motor.

[0021] The driving wheel assembly provided by the utility model adjusts the position of the driving connection part on the driving device so that the driven connection part of the driving device is the first driving part and the second driving part. The output shaft of the driving device extends from the first driving part and is torque-connected with the output shaft fixing part of the driving wheel, so that the driving device can transmit power to the driving wheel to drive the driving wheel to rotate. After the driving wheel assembly is installed on the fuselage frame, the first driving part and the output shaft are both located on the outside of the fuselage frame, and the second driving part is located on the inside of the fuselage frame, which reduces the occupation of the internal space of the fuselage frame, thereby reducing the size of the fuselage frame, and then reducing the size of the crawler photovoltaic cleaning robot. In order to avoid interference, the driving wheel and the fuselage frame need to maintain a certain distance. In the prior art, this distance needs to be compensated by the length of the output shaft, while the utility model needs to be compensated by the sum of the length of the output shaft and the first driving part. Therefore, the length of the output shaft can be significantly shortened, so that the force arm of the output shaft is also shorter, and the load stress borne by the internal bearing of the driving device is reduced.

[0022] A crawler-type photovoltaic cleaning robot, comprising:

[0023] A fuselage frame, the fuselage frame comprising fuselage side beams located on both sides, and a drive wheel mounting portion is provided on the fuselage side beams;

[0024] A walking mechanism includes a crawler track and a driving wheel assembly for driving the crawler track, wherein the driving wheel assembly is a driving wheel assembly as described in any one of the above items, and the driving connection part is installed to the driving wheel mounting part, the first driving part is located on the outside of the fuselage frame, and the second driving part is located on the inside of the fuselage frame.

[0025] Optionally, in the above-mentioned crawler-type photovoltaic cleaning robot, the fuselage frame includes a battery carrier for installing a power supply battery and the fuselage side beams arranged on both sides of the battery carrier, and the fuselage side beams are detachably connected to the battery carrier.

[0026] Optionally, in the above-mentioned crawler-type photovoltaic cleaning robot, at least one end of the fuselage side beam is detachably fixed with an ultrasonic detection component, the ultrasonic detection component is located outside the crawler, and the ultrasonic detection component includes:

[0027] An ultrasonic sensor fixing plate;

[0028] An ultrasonic sensor, arranged on the ultrasonic sensor fixing plate, for detecting the distance from the photovoltaic panel;

[0029] An ultrasonic sensor fixing seat, detachably fixed to the ultrasonic sensor fixing plate and the fuselage side beam respectively.

[0030] For the crawler-type photovoltaic cleaning robot provided by the present invention, due to having the above-mentioned driving wheel assembly, it has all the technical effects of the above-mentioned driving wheel assembly, and will not be elaborated herein. Description of the Drawings

[0031] In order to more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the following will briefly introduce the drawings required to be used in the description of the embodiments or the prior art. Obviously, the drawings in the following description are only the embodiments of the present invention. For those of ordinary skill in the art, other drawings can be obtained according to the provided drawings without creative efforts.

[0032] Figure 1 It is a schematic structural diagram of the crawler-type photovoltaic cleaning robot provided by the embodiment of the present invention;

[0033] Figure 2 It is a schematic structural diagram of the driving wheel assembly installed on the fuselage side beam provided by the embodiment of the present invention;

[0034] Figure 3 It is a partial cross-sectional view of the driving wheel assembly provided by the embodiment of the present invention;

[0035] Figure 4 It is an exploded view of the fuselage frame provided by the embodiment of the present invention;

[0036] Figure 5 It is an exploded view of the ultrasonic detection component provided by the embodiment of the present invention.

[0037] The meanings of the reference numerals in the drawings are as follows:

[0038] 100 - Driving wheel assembly; 110 - Driving motor; 120 - Reducer; 121 - Driving connection part; 122 - Output shaft; 130 - Driving wheel; 131 - Wheel body; 132 - Output shaft fixing part; 140 - Axial limiting part; 150 - Limiting part protection cover;

[0039] 200 - Crawler belt;

[0040] 300 - Body side beam; 310 - Driving wheel mounting part;

[0041] 400 - Ultrasonic detection assembly; 410 - Ultrasonic sensor cover; 420 - Ultrasonic sensor fixing plate; 430 - Ultrasonic sensor fixing seat; 440 - Ultrasonic sensor;

[0042] 500 - Battery carrier;

[0043] 600 - Pull rod. Detailed implementation mode

[0044] The core of the present utility model lies in providing a driving wheel assembly to reduce the occupation of the internal space of the fuselage frame by the driving device, reduce the width of the fuselage frame, and at the same time reduce the load stress borne by the bearings inside the driving device;

[0045] Another core of the present utility model lies in providing a crawler - type photovoltaic cleaning robot with the above - mentioned driving wheel assembly.

[0046] Next, the technical solutions in the embodiments of the present utility model will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present utility model. Obviously, the described embodiments are only a part of the embodiments of the present utility model, rather than all of the embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without making creative efforts belong to the scope of protection of the present utility model.

[0047] In the prior art, the driving devices of the driving wheel assemblies are all located inside the fuselage frame, and only the output shafts of the driving devices extend to the outside of the fuselage frame to be connected to the driving wheels and drive the driving wheels to rotate. In order to ensure a large adhesion force, the driving wheels are all designed to have a certain width. In order to avoid interference between the driving wheels and the fuselage frame, there also needs to be a certain gap between the driving wheels and the fuselage frame. Therefore, the output shafts of the driving devices are relatively long, and the driving wheels act on the output shafts with support forces. Due to the long force arms, the bearings inside the driving devices need to bear greater load stress.

[0048] Based on this, the embodiments of the present utility model disclose a driving wheel assembly to overcome the above - mentioned technical problems. As Figures 1 - 3 shown, the driving wheel assembly 100 disclosed in the embodiments of the present utility model includes a driving device and a driving wheel 130.

[0049] Among them, the driving device is provided with a driving connection part 121. The driving connection part 121 is used to be installed at the position to be installed. The driving connection part 121 can be a connecting flange, and the installation of the driving wheel assembly is realized through the connecting flange and fasteners. Taking the crawler-type photovoltaic cleaning robot as an example, its driving wheel assembly needs to be installed on the body side beams 300 on both sides of the body frame, that is, the position to be installed is the body side beam 300.

[0050] For the sake of easy understanding, taking the driving connection part 121 as the boundary, the part of the driving device located on the first side of the driving connection part 121 is defined as the first driving part, and the part of the driving device located on the second side of the driving connection part 121 is defined as the second driving part. The output shaft 122 of the driving device extends from one end of the first driving part far away from the driving connection part 121.

[0051] Taking the installation of the driving wheel assembly 100 on the body side beams 300 on both sides of the body frame as an example, the driving connection part 121 is the part connected to the body side beam 300. Therefore, it can be understood that the position of the driving connection part 121 is close to the position of the body side beam 300, while the first driving part located on the first side of the driving connection part 121 extends outside the body side beam 300, and the second driving part located on the second side of the driving connection part 121 is located inside the body side beam 300. In this embodiment, the length of the driving device inside and outside the body side beam 300 can be adjusted by setting the position of the driving connection part 121 on the driving device.

[0052] The driving wheel 130 includes a wheel body 131 and an output shaft fixing part 132 located inside the wheel body 131. The output shaft fixing part 132 is torque-connected to the output shaft 122 of the driving device so that the driving device can drive the driving wheel 130 to rotate. It should be noted that the output shaft fixing part 132 should have a connection hole that cooperates with the output shaft 122 of the driving device.

[0053] Specifically, the output shaft 122 of the driving device and the output shaft fixing part 132 can be connected by a key to achieve torque transmission. Those skilled in the art can understand that there are many connection methods capable of achieving torque transmission in addition to key connection. The present invention is not limited to this specific connection method of key connection.

[0054] The inner diameter of the wheel body 131 is relatively large, which can enable a part of the structure of the first driving part to extend into the space surrounded by the wheel body 131, that is, using the space surrounded by the wheel body 131 to hide a part of the structure of the first driving part inside the wheel body 131, so that there is a partial overlap between the driving wheel 130 and the driving device in the axial direction, and thus the overall length of the driving wheel assembly can be reduced.

[0055] The drive wheel assembly 100 provided by the present utility model adjusts the position of the drive connection part 121 on the drive device. Compared with the prior art where the drive connection part 121 is arranged at the front end of the drive device (the front end is the end close to the output shaft), the present utility model arranges the drive connection part 121 in the middle area of the drive device, so that the drive device is divided into a first drive part and a second drive part by the drive connection part 121. The output shaft 122 of the drive device extends from the first drive part and is torque-connected to the output shaft fixing part of the drive wheel 130, so that the drive device can transmit power to the drive wheel 130 and drive the drive wheel 130 to rotate. After the drive wheel assembly 100 is installed on the body frame, the first drive part and the output shaft 122 are both located outside the body frame, and the second drive part is located inside the body frame, reducing the occupation of the internal space of the body frame. Therefore, the space occupied by the body frame due to the drive device is smaller, so a larger width is not required, reducing the size of the body frame, and then reducing the size of the crawler-type photovoltaic cleaning robot.

[0056] To avoid interference, a certain distance needs to be maintained between the drive wheel 130 and the body frame. In the prior art, since only the output shaft extends outside the body frame, the above distance all needs to be compensated by the length of the output shaft 122. However, in the present utility model, in addition to the output shaft, the part extending outside the body frame also has a first drive part. Therefore, it needs to be compensated by the sum of the lengths of the output shaft 122 and the first drive part. This enables the length of the output shaft 122 to be not too long, significantly shortening the length of the output shaft 122, making the lever arm of the output shaft 122 shorter, and reducing the load stress borne by the internal bearings of the drive device.

[0057] Those skilled in the art can understand that the output shaft fixing part 132 is the position where the drive wheel 130 acts on the output shaft 122. In order to keep the output shaft 122 within a short range and ensure uniform force. As Figure 3 shown, in this embodiment, the output shaft fixing part 132 is arranged in the middle area in the width direction of the wheel body 131. It should be noted that the middle area in the width direction does not only refer to the middle position in the width direction, but a section of area extending from the middle to both sides. The output shaft fixing part 132 can be connected to the inner wall of the wheel body 131 through the wheel body connecting part. The wheel body connecting part can surround the output shaft fixing part 132 for one week. In order to reduce the weight, weight-reducing holes can be opened on the wheel body connecting part.

[0058] It should be noted that the output shaft fixing part 132 can also be arranged on one side of the wheel body 131 close to or away from the drive connection part 121 in the width direction. Those skilled in the art can understand that the farther the position of the output shaft fixing part 132 on the wheel body 131 is from the drive connection part 121, the longer the length of the first drive part extending into the wheel body 131 will be, the longer the overlapping part between the two will be, and the more the overall width of the product can be reduced.

[0059] In order to prevent the drive wheel 130 from falling off the output shaft 122 of the drive device, in this embodiment, the shaft end of the output shaft 122 of the drive device is designed to extend outside the output shaft fixing part 132, and the output shaft fixing part 132 is axially limited by an axial limiting part 140 arranged at the shaft end of the output shaft 122 of the drive device. The utility model designs the output shaft 122 of the drive device to extend outside the output shaft fixing part 132 to provide an installation basis for the axial limiting part 140. Fixing the axial limiting part 140 at the shaft end of the output shaft 122 of the drive device (i.e., the part extending outside the output shaft fixing part 132) can limit the movement of the output shaft fixing part 132 towards the shaft end of the output shaft 122, and then limit the drive wheel 130 from falling off the output shaft 122 of the drive device.

[0060] It should be noted that external threads can be provided on the part of the output shaft 122 of the drive device extending outside the output shaft fixing part 132, and a locking nut can be selected as the axial limiting part 140. By fitting the locking nut on the external threads of the shaft section of the output shaft 122, the output shaft fixing part 132 can be prevented from detaching from the output shaft 122. A gasket can be arranged between the locking nut and the output shaft fixing part 132. The gasket has a larger covering area than the locking nut and can better limit the output shaft fixing part 132. In addition, anti-loosening treatment can be performed on the locking nut. For example, a locking pin can pass through the locking nut and the output shaft 122 to achieve the effect of preventing the locking nut from rotating. Holes corresponding to the locking pin need to be opened on the locking nut and the output shaft 122.

[0061] Furthermore, a limiting part protection cover 150 is arranged on the output shaft fixing part 132, and the limiting part protection cover 150 covers the outside of the axial limiting part 140. The limiting part protection cover 150 can be fixed on the output shaft fixing part 132 through fasteners. Specifically, a flange-like structure can be arranged on the limiting part protection cover 150, and the flange-like structure is fixed on the end face of the output shaft fixing part 132 through fasteners. In this embodiment, by arranging the limiting part protection cover 150, the axial limiting part 140 can be protected to avoid the problem that the axial limiting part 140 fails to limit due to being collided by external objects, and the reliability and safety of the drive wheel assembly 100 are improved.

[0062] In a specific embodiment of the present utility model, the output shaft fixing portion 132 is a stepped shaft structure, and the shaft section facing the stopper protective cover 150 is a large diameter shaft section, and the shaft section facing the driving device is a small diameter shaft section. It should be noted that the large diameter shaft section and the small diameter shaft section are relative concepts, that is, the output shaft fixing portion 132 is a stepped shaft structure, and the shaft section with a larger diameter is the large diameter shaft section, and the shaft section with a smaller diameter is the small diameter shaft section; in other words, the diameter of the large diameter shaft section is greater than the diameter of the small diameter shaft section.

[0063] The fasteners for fixing the limiter protection cover 150 are fastened to the large diameter shaft section. A threaded hole can be opened on the large diameter shaft section. The fasteners pass through the light hole on the limiter protection cover 150 and are locked in the threaded hole of the large diameter shaft section to achieve the installation of the limiter protection cover 150. In addition, a light hole can be opened on the large diameter shaft section instead of a threaded hole, and the installation of the limiter protection cover 150 can also be achieved by using a bolt and a nut. The utility model designs the output shaft fixing portion 132 as a stepped shaft structure, and only the large diameter shaft section with a larger diameter is selected for the installation part of the limiter protection cover 150, and the small diameter shaft section with a smaller diameter is selected for the rest of the part. This can facilitate the installation of the limiter protection cover 150 without significantly increasing the weight of the drive wheel 130.

[0064] In a specific embodiment of the utility model, the driving device includes a driving motor 110 and a reducer 120, and the driving motor 110 and the reducer 120 are transmission-connected, wherein the output shaft 122 of the driving device is the output shaft of the reducer 120. The driving connection part 121 is located at one end of the reducer 120 close to the driving motor 110. In other words, the driving connection part 121 is located on the outer shell of the reducer 120, and is located at a position of the outer shell of the reducer 120 close to the driving motor 110. During installation, the driving connection part 121 is located on the inner side of the fuselage side beam 300, and the driving connection part 121 and the fuselage side beam 300 are fastened by fasteners. An extension hole for the first driving part (i.e., most of the reducer 120) to extend outward needs to be opened on the fuselage side beam 300.

[0065] like Figure 1 and Figure 4 As shown, the crawler-type photovoltaic cleaning robot disclosed in the embodiment of the utility model includes a fuselage frame and a walking mechanism. The fuselage frame includes fuselage side beams 300 located on both sides, and the fuselage side beams 300 are provided with a driving wheel mounting portion 310. Generally, the fuselage frame includes a battery carrier 500 for installing a power supply battery and fuselage side beams 300 arranged on both sides of the battery carrier 500, and the fuselage side beams 300 are detachably connected to the battery carrier 500.

[0066] Those skilled in the art can understand that the crawler - type photovoltaic cleaning robot is a cleaning robot powered by a battery, and the battery is relatively heavy. Therefore, the battery carrier 500 can be arranged in the middle part of the fuselage frame, so as to arrange the power - supply battery in the middle part of the fuselage frame to achieve the balance of the center of gravity, making the forces exerted by the traveling mechanisms on both sides of the crawler - type photovoltaic cleaning robot on the photovoltaic panel more balanced and avoiding damaging the photovoltaic panel. It should be noted that the battery carrier 500 can be arranged according to actual needs in addition to being arranged in the middle part of the fuselage frame, and is not limited to the middle part of the fuselage frame.

[0067] The fuselage side beam 300 is used to install the traveling mechanism. For the crawler - type photovoltaic cleaning robot, its traveling mechanism is a crawler - type traveling mechanism. The traveling mechanism includes a crawler 200 and a drive wheel assembly 100 for driving the crawler 200 to travel. The drive wheel assembly 100 is the drive wheel assembly 100 disclosed in the above - mentioned embodiment, and the drive connection part 121 is installed on the drive wheel installation part 310. The first drive part is located outside the fuselage frame, and the second drive part is located inside the fuselage frame.

[0068] For the crawler - type photovoltaic cleaning robot provided by the present utility model, due to having the above - mentioned drive wheel assembly 100, it has all the technical effects of the above - mentioned drive wheel assembly 100, which will not be elaborated herein.

[0069] Those skilled in the art can understand that the battery carrier 500 needs to install a relatively heavy power - supply battery, which will cause a relatively large force on the connection part between the battery carrier 500 and the fuselage side beam 300. If the battery carrier 500 is relied on to tighten the fuselage side beams 300 on both sides, it will inevitably affect the stability and reliability of the fuselage frame. Based on this, in order to improve the reliability of the connected fuselage frame, in this embodiment, the fuselage side beams 300 on both sides of the battery carrier 500 are detachably connected by at least one pull rod 600. That is, on the basis of the above - mentioned technical solution, at least one pull rod 600 is added, and the pull rod 600 is used to connect the fuselage side beams 300 on both sides to stably maintain the fuselage side beams 300 on both sides at a corresponding distance. The fuselage side beam 300 only needs to support the battery carrier 500, and the force for tightening the fuselage side beams 300 on both sides is shared by the pull rod 600.

[0070] Furthermore, there are at least two pull rods 600, and at least one pull rod 600 is connected to the first end of the fuselage side beam 300, and at least one pull rod 600 is connected to the second end of the fuselage side beam 300. For the sake of easy understanding, taking two pull rods 600 as an example, the pull rod 600 located at the first end of the fuselage side beam 300 is the first pull rod, and the pull rod 600 located at the second end of the fuselage side beam 300 is the second pull rod. The battery carrier 500 is located between the first pull rod and the second pull rod.

[0071] In a specific embodiment of the present utility model, an ultrasonic detection component 400 is detachably fixed to at least one end of the fuselage side beam 300. For a crawler-type photovoltaic cleaning robot that can only travel in one direction, the front side of its traveling direction will first face the risk of falling. Therefore, for this type of crawler-type photovoltaic cleaning robot, the ultrasonic detection component 400 can be provided only at one end of the fuselage side beam 300. For a crawler-type photovoltaic cleaning robot that can travel in both directions, both its front and rear sides will first face the risk of falling. Therefore, ultrasonic detection components 400 need to be provided at both ends of the fuselage side beam 300. The following takes the case where ultrasonic detection components 400 are provided at both ends of the fuselage side beam 300 as an example for introduction.

[0072] Since the fuselage frame is provided with fuselage side beams 300 on both sides of the battery carrier 500, and ultrasonic detection components 400 are provided at both ends of each fuselage side beam 300, ultrasonic detection components 400 are arranged at the four corners of the fuselage frame, that is, the fuselage frame has a total of four ultrasonic detection components 400. Those skilled in the art can understand that the ultrasonic detection component 400 is used to detect the positional relationship between the crawler-type photovoltaic cleaning robot and the photovoltaic panel, so as to avoid the risk that the crawler-type photovoltaic cleaning robot walks to the edge of the photovoltaic panel and falls and is damaged from the edge of the photovoltaic panel.

[0073] In this embodiment, ultrasonic detection components 400 are arranged at the four corners of the fuselage frame, which can ensure that when any position of the crawler-type photovoltaic cleaning robot walks to the edge of the photovoltaic panel, it can be detected by the ultrasonic detection component 400, improving the safety of the crawler-type photovoltaic cleaning robot during operation.

[0074] As Figure 5 shown, the ultrasonic detection component 400 includes an ultrasonic sensor fixing plate 420, an ultrasonic sensor 440, and an ultrasonic sensor fixing seat 430. In this embodiment, the ultrasonic detection component 400 also adopts a detachable structure, so that any detachable component in the ultrasonic detection component 400 can be replaced separately after being damaged, reducing the maintenance cost.

[0075] The ultrasonic sensor 440 is disposed on the ultrasonic sensor fixing plate 420 and is used to detect the distance from the photovoltaic panel. Those skilled in the art can understand that when the crawler-type photovoltaic cleaning robot walks at a safe position of the photovoltaic panel, the ultrasonic sensor 440 is located above the photovoltaic panel, that is, the distance detected by it from the photovoltaic panel is small (that is, the distance value detected by the ultrasonic sensor 440 is within the preset distance value range); when either side of the crawler-type photovoltaic cleaning robot moves to the edge of the photovoltaic panel, the ultrasonic sensor 440 at the corresponding position moves outside the photovoltaic panel, that is, the ultrasonic sensor 440 cannot detect the photovoltaic panel downward, but detects the distance of an object below the photovoltaic panel, which will undoubtedly make the measured distance value larger (that is, the distance value detected by the ultrasonic sensor 440 is greater than the upper limit value of the preset distance value range), then it can be determined that the corresponding side of the crawler-type photovoltaic cleaning robot moves outside the photovoltaic panel, and the crawler-type photovoltaic cleaning robot needs to adjust its route to avoid falling.

[0076] It should be noted that the ultrasonic detection assembly 400 is arranged at the four corners of the fuselage frame, and it is more likely to collide with other objects and is also more likely to be damaged due to collisions. In order to protect the ultrasonic sensor 440, in this embodiment, an ultrasonic sensor cover 410 fixed to the ultrasonic sensor fixing seat 430 is added, and the ultrasonic sensor cover 410 covers the outside of the ultrasonic sensor 440. The ultrasonic sensor cover 410 can also be fixed to the ultrasonic sensor fixing seat 430 in a detachable manner.

[0077] As shown in this application and the claims, unless the context clearly indicates an exception, words such as "a", "an", "one" and / or "the" are not specifically singular and may also include plural. Generally speaking, the terms "comprising" and "including" only indicate the inclusion of the steps and elements that have been clearly identified, and these steps and elements do not constitute an exclusive list. The method or device may also include other steps or elements. An element defined by the statement "including one..." does not exclude the existence of another identical element in the process, method, commodity or device including the element.

[0078] In the description of this application, unless otherwise clearly defined, words such as "set", "installed", "connected", etc. should be understood in a broad sense, and those skilled in the art can reasonably determine the specific meanings of the above words in this application in combination with the specific content of the technical solution.

[0079] In this specification, the various embodiments are described in a progressive manner. Each embodiment focuses on the differences from other embodiments, and the same or similar parts between the various embodiments can be referred to each other.

[0080] In this article, specific examples are used to elaborate on the principle and implementation mode of the present utility model. The description of the above embodiments is only used to help understand the method and its core idea of the present utility model. It should be pointed out that for those of ordinary skill in the art of this technology, without departing from the principle of the present utility model, several improvements and modifications can be made to the present utility model, and these improvements and modifications also fall within the protection scope of the claims of the present utility model.

Claims

1. A driving wheel assembly, characterized in that: include: A driving device, the driving device being provided with a driving connection portion (121), the driving connection portion (121) being used for being installed at a position to be installed, the portion of the driving device located on a first side of the driving connection portion (121) being a first driving portion, the portion of the driving device located on a second side of the driving connection portion (121) being a second driving portion, and the output shaft (122) of the driving device extending from an end of the first driving portion away from the driving connection portion (121); A driving wheel (130), the driving wheel (130) comprising a wheel body (131) and an output shaft fixing portion (132) located in the wheel body (131), the output shaft fixing portion (132) being torque-connected to an output shaft (122) of the driving device, and a portion of the structure of the first driving portion extends into a space enclosed by the wheel body (131).

2. The driving wheel assembly according to claim 1, characterized in that: The output shaft fixing portion (132) is located in a middle area of ​​the wheel body (131) in the width direction, or the output shaft fixing portion (132) is located on a side of the wheel body (131) close to and away from the driving connection portion (121) in the width direction.

3. The driving wheel assembly according to claim 1, characterized in that: The shaft end of the output shaft (122) of the drive device extends outward from the output shaft fixing portion (132), and the output shaft fixing portion (132) is axially limited by an axial limiting member (140) arranged on the shaft end of the output shaft (122) of the drive device.

4. The driving wheel assembly according to claim 3, characterized in that: A limit member protection cover (150) is provided on the output shaft fixing portion (132), and the limit member protection cover (150) is disposed on the outside of the axial limit member (140).

5. The driving wheel assembly according to claim 4, characterized in that: The output shaft fixing portion (132) is a stepped shaft structure, the shaft section facing the position-limiting member protective cover (150) is a large-diameter shaft section, and the shaft section facing the driving device is a small-diameter shaft section, and the fastener fixing the position-limiting member protective cover (150) is fastened to the large-diameter shaft section.

6. The driving wheel assembly according to any one of claims 1 to 5, characterized in that: The driving device comprises a driving motor (110) and a reducer (120), the driving motor (110) and the reducer (120) being transmission-connected, wherein an output shaft (122) of the driving device is an output shaft of the reducer (120); and / or, The driving connection part (121) is a connection flange.

7. The driving wheel assembly according to claim 6, characterized in that: The driving connection portion (121) is located at an end of the reducer (120) close to the driving motor (110).

8. A crawler-type photovoltaic cleaning robot, characterized in that: include: A fuselage frame, the fuselage frame comprising fuselage side beams (300) located on both sides, and a driving wheel mounting portion (310) is provided on the fuselage side beams (300); A walking mechanism, comprising a crawler (200) and a driving wheel assembly (100) for driving the crawler (200) to walk, wherein the driving wheel assembly (100) is the driving wheel assembly (100) as described in any one of claims 1 to 7, and the driving connection part (121) is installed to the driving wheel installation part (310), the first driving part is located on the outside of the fuselage frame, and the second driving part is located on the inside of the fuselage frame.

9. The crawler-type photovoltaic cleaning robot according to claim 8, characterized in that: The fuselage frame comprises a battery carrier (500) for installing a power supply battery and fuselage side beams (300) arranged on both sides of the battery carrier (500), and the fuselage side beams (300) are detachably connected to the battery carrier (500).

10. The crawler-type photovoltaic cleaning robot according to claim 9, characterized in that: An ultrasonic detection assembly (400) is detachably fixed to at least one end of the fuselage side beam (300), and the ultrasonic detection assembly (400) is located outside the crawler (200). The ultrasonic detection assembly (400) comprises: Ultrasonic sensor fixing plate (420); An ultrasonic sensor (440), arranged on the ultrasonic sensor fixing plate (420), for detecting the distance from the photovoltaic panel; The ultrasonic sensor fixing seat (430) is detachably fixed to the ultrasonic sensor fixing plate (420) and the fuselage side beam (300).

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