Chassis and photovoltaic cleaning robot

Abstract

The utility model relates to the technical field of track cleaning, and discloses a chassis and a photovoltaic cleaning robot. At least two crawler wheels; each crawler wheel is provided with a driving hub and a crawler belt; the rolling brush is arranged between the two crawler wheels and is in contact with the crawler belt; a driving member; the driving side of the transmission mechanism is connected with an output shaft of the driving part, and the driven side of the transmission mechanism is connected with the rolling brush and driving hubs of the two crawler wheels; when the chassis works, the rotating speed of the rolling brush is greater than that of the driving hub; according to the chassis and the photovoltaic cleaning robot, the driving piece is in transmission connection with the crawler wheels and the rolling brush through the transmission mechanism, the crawler wheels and the rolling brush are driven to work at the same time, and the rolling brush rotates to clean dirt attached to the crawler wheels; by means of a large gear arranged at the third transmission gear set and level gears arranged at other positions, the transmission gear set improves the rotating speed of the rolling brush and enables the rotating speed of the rolling brush to be larger than the rotating speed of a crawler wheel hub, and the cleaning effect of the rolling brush on a crawler is improved.

Description

Technical Field

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

[0002] Since the photovoltaic panel is inclined, the photovoltaic cleaning robot often uses a crawler as a traveling mechanism to ensure the safety of the photovoltaic robot during operation.

[0003] In the related art, since the photovoltaic panel is exposed to the outside and affected by environmental sand, dust, etc., there are many pollutants such as dust, dirt, and bird droppings on the photovoltaic panel. When the photovoltaic cleaning robot walks on the photovoltaic panel, the pollutants will adhere to the surface layer of the crawler, affecting the contact between the crawler and the photovoltaic panel, and further damaging the stability and safety of the photovoltaic cleaning robot walking on the photovoltaic panel, and affecting the normal operation of the photovoltaic cleaning robot. Summary of the Utility Model

[0004] In view of this, the utility model provides a chassis and a photovoltaic cleaning robot to solve the problem that when the photovoltaic cleaning robot operates, pollutants adhere to the surface layer of the crawler, affecting the normal operation of the photovoltaic cleaner robot.

[0005] In a first aspect, the utility model provides a chassis, including: a base body; at least two crawler wheels, spaced on the same side of the base body; each crawler wheel has a driving hub, a driven hub and a crawler sleeved on the outer surfaces of the driving hub and the driven hub; a rotary brush, arranged between the two crawler wheels and in contact with the crawler; a driving member, arranged on the base body; a transmission mechanism, the driving side of which is connected to the output shaft of the driving member, and the driven sides of which are respectively connected to the rotary brush and the driving hubs of the two crawler wheels; wherein, when the chassis works, the rotating speed of the rotary brush is greater than that of the driving hub.

[0006] Beneficial effects: The driving member is respectively connected to the crawler wheel and the rotary brush through the transmission mechanism to realize the simultaneous driving of the crawler wheel and the rotary brush to work, and the purpose of the rotary brush rotating to clean the dirt attached to the crawler is achieved. The transmission mechanism realizes the purpose of increasing the rotating speed of the rotary brush and making it greater than the rotating speed of the crawler wheel hub through the cooperation of bevel gears, a transmission gear set and a rotating rod. The transmission gear set realizes this purpose through the large gear arranged at the third transmission gear set and the same-level gears arranged at other positions; the rotating speed of the rotary brush is greater than that of the driving hub. Within the unit walking distance of the crawler wheel, the number of rotations of the rotary brush is doubled, and thus the number of rubbing times at the crawler is doubled, so as to greatly improve the cleaning effect of the rotary brush on the crawler, and the crawler wheel is well cleaned; the crawler cleaning work is synchronized with the crawler walking process, ensuring the real-time and immediate cleaning of foreign objects during the walking process of the crawler, and ensuring the reliability of crawler cleaning.

[0007] In an alternative embodiment, the transmission mechanism includes a driving bevel gear disposed on the output shaft of the driving member; a rotating rod disposed on the base body, and a first bevel gear, a second bevel gear and a third bevel gear are disposed on the rotating rod. The first bevel gear and the second bevel gear are respectively located at two ends of the rotating rod, and the third bevel gear is located between the first bevel gear and the second bevel gear; a first transmission member includes a fourth bevel gear and a first transmission gear set. The fourth bevel gear is coaxially disposed with one of the gears in the first transmission gear set, and the other gear in the first transmission gear set is connected to one of the driving hubs. The fourth bevel gear meshes with the driving bevel gear and the first bevel gear respectively; a second transmission member includes a fifth bevel gear and a second transmission gear set. The fifth bevel gear is coaxially disposed with one of the gears in the second transmission gear set, and the other gear in the second transmission gear set is connected to the other driving hub. The fifth bevel gear meshes with the second bevel gear; a third transmission member includes a sixth bevel gear and a third transmission gear set. The sixth bevel gear is coaxially disposed with one of the gears in the third transmission gear set, and the other gear in the third transmission gear set meshes with the gear at one end of the rotary brush. The sixth bevel gear meshes with the third bevel gear; wherein, the pitch diameters of all bevel gears are equal, and among all the transmission gear sets, except for the gear coaxially disposed with the sixth bevel gear, the diameters of the remaining gears are equal and smaller than the gear coaxially disposed with the sixth bevel gear.

[0008] In an alternative embodiment, the transmission mechanism includes a driving bevel gear disposed on the output shaft of the driving member; a rotating rod disposed on the base body, and a first bevel gear, a second bevel gear and a third bevel gear are disposed on the rotating rod. The first bevel gear and the second bevel gear are respectively located at both ends of the rotating rod, and the third bevel gear is located between the first bevel gear and the second bevel gear; a first transmission member includes a fourth bevel gear and a first transmission gear set. One of the gears in the first transmission gear set is coaxially disposed with the fourth bevel gear, and the other gear in the first transmission gear set is connected to one of the driving hubs. The fourth bevel gear meshes with the driving bevel gear and the first bevel gear respectively; a second transmission member includes a fifth bevel gear and a second transmission gear set. One of the gears in the second transmission gear set is coaxially disposed with the fifth bevel gear, and the other gear in the second transmission gear set is connected to the other driving hub. The fifth bevel gear meshes with the second bevel gear; a third transmission member includes a sixth bevel gear and a third transmission gear set. One of the gears in the third transmission gear set is coaxially disposed with the sixth bevel gear, and the other gear in the third transmission gear set meshes with the gear at one end of the rotary brush. The sixth bevel gear meshes with the third bevel gear; wherein, the diameters of the gears in all the transmission gear sets are equal, and the pitch diameters of the driving bevel gear, the first bevel gear, the second bevel gear, the fourth bevel gear, the fifth bevel gear and the sixth bevel gear are equal and smaller than the pitch diameter of the third bevel gear.

[0009] In an alternative embodiment, the chassis further includes a blower disposed on the base body. The crawler belt includes a plurality of suction holes which are spaced apart in the circumferential direction of the crawler belt; the crawler wheel further includes: a support frame, and the driving hub and the driven hub are disposed at both ends of the support frame. The support frame has a first channel which is communicated with the suction holes located at the bottom of the crawler belt, and the blower is communicated with the first channel.

[0010] In an alternative embodiment, the support frame includes: a first rotating shaft located on the first side of the support frame. The first rotating shaft has a second channel which is communicated with the first channel, and the blower is communicated with the second channel; a second rotating shaft located on the second side of the support frame opposite to the first side; wherein, the first rotating shaft and the second rotating shaft are coaxially disposed, and the first rotating shaft and the second rotating shaft are respectively hinged to the base body.

[0011] Beneficial effects: The first rotating shaft and the second rotating shaft are coaxially arranged, and the first rotating shaft and the second rotating shaft are respectively hinged to the base body to improve the running stability of the chassis; when the crawler wheel passes through an obstacle during running, due to the lifting effect of the obstacle, the crawler wheel can generate relative rotation around the first rotating shaft and the second rotating shaft, thereby reducing the pitching angle of the whole chassis and ensuring stable operation.

[0012] In an optional embodiment, the fan is arranged above the base body, and the air outlet of the fan faces the side of the chassis.

[0013] In an optional embodiment, two crawler wheels are respectively arranged on the opposite sides of the base body at intervals in the front and rear directions. The fan includes a first fan and a second fan; the chassis further includes: a first C-shaped member arranged at the bottom of the base body. The first C-shaped member has a third channel, and the third channel is respectively communicated with the first channels of the two rear crawler wheels and the first fan; a second C-shaped member arranged at the bottom of the base body. The second C-shaped member has a fourth channel, and the fourth channel is respectively communicated with the first channels of the two front crawler wheels and the second fan.

[0014] Beneficial effects: The first fan successively extracts the air in the air suction holes of the two front crawler wheels through the third channel, the second channel and the first channel in the first C-shaped member; the second fan successively extracts the air in the air suction holes of the two rear crawler wheels through the fourth channel, the second channel and the first channel in the second C-shaped member, so that the crawlers on the front and rear sides are adsorbed at the photovoltaic panel. During the running process of the crawler wheel, the adsorption effect is continuously formed at the position where the crawler contacts the photovoltaic panel, thereby ensuring the stable running of the crawler and improving the stability and safety of the operation of the photovoltaic robot.

[0015] In an optional embodiment, the chassis further includes: a compression spring, including a fixed block and two pressure rods located on the opposite sides of the fixed block. The fixed block is arranged at the bottom of the base body, and the two pressure rods are respectively connected to the driving hub and the driven hub. The pressure rods are used to apply a force to the crawler wheel towards the base body.

[0016] In an optional embodiment, the crawler further includes a plurality of grooves, and the plurality of grooves are arranged on the outer surface of the crawler, and the plurality of grooves correspond to the plurality of air suction holes one by one.

[0017] In a second aspect, the present invention further provides a photovoltaic cleaning robot, including: a chassis as described in any one of the above; a cleaning member connected to the chassis.

[0018] Since the photovoltaic cleaning robot includes a chassis and has the same effects as the chassis, they will not be described in detail here. Brief Description of the Drawings

[0019] In order to more clearly illustrate the specific embodiments of the present invention or the technical solutions in the prior art, the following will briefly introduce the drawings required for use in the description of the specific embodiments or the prior art. Obviously, the drawings in the following description are some embodiments of the present invention. For those of ordinary skill in the art, without creative efforts, other drawings can also be obtained based on these drawings.

[0020] Figure 1 It is a schematic diagram of the cooperation of the crawler wheel, the rotary brush and the transmission mechanism of the present invention;

[0021] Figure 2 is Figure 1 an enlarged schematic diagram of part A in

[0022] Figure 3 It is a schematic diagram of the structure of the chassis of the present invention;

[0023] Figure 4 It is a bottom view of the chassis of the present invention;

[0024] Figure 5 It is a schematic diagram of the structure of the chassis of the present invention;

[0025] Figure 6 It is a disassembled schematic diagram of the crawler wheel of the present invention;

[0026] Figure 7 It is a schematic diagram of one structure of the support frame of the present invention;

[0027] Figure 8 It is another schematic diagram of the structure of the support frame of the present invention;

[0028] Figure 9 It is a disassembled schematic diagram of the crawler wheel of the present invention.

[0029] Description of the reference numerals:

[0030] 11, rotating rod; 12, driving bevel gear; 13, rotary brush; 131, bristles; 14, first bevel gear; 15, second bevel gear; 16, third bevel gear; 171, fourth bevel gear; 172, first transmission gear set; 181, fifth bevel gear; 182, second transmission gear set; 191, sixth bevel gear; 192, third transmission gear set;

[0031] 21. Substrate; 22. Fan; 221. First fan; 222. Second fan; 23. Track wheel; 231. Track; 2311. Groove; 2312. Suction hole; 232. Support frame; 2321. Side plate; 233. Second rotating shaft; 234. Driving hub; 2341. Driven hub; 235. First rotating shaft; 236. Second channel; 237. Cover plate; 238. Accommodating groove; 239. Belt drive assembly; 24. Driving member; 25. First channel; 26. Compression spring; 261. Fixed block; 262. Pressure rod; 27. Air outlet; 28. First C-shaped member; 29. Second C-shaped member. Detailed implementation manners

[0032] To make the objectives, technical solutions and advantages of the embodiments of the present utility model clearer, the technical solutions in the embodiments of the present utility model will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present utility model. Apparently, the described embodiments are some but not all of the embodiments of the present utility model. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present utility model without creative efforts shall fall within the protection scope of the present utility model.

[0033] In the description of the present utility model, it should be noted that the orientation or positional relationship indicated by the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc. is based on the orientation or positional relationship shown in the accompanying drawings, and is only for the convenience of describing the present utility model and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of the present utility model. In addition, the terms "first", "second", and "third" are only used for descriptive purposes and cannot be construed as indicating or implying relative importance.

[0034] In the description of the present utility model, it should be noted that unless otherwise clearly specified and limited, the terms "installation", "connection", and "connection" 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 directly connected or indirectly connected through an intermediate medium, and it can be the communication inside two elements. For those of ordinary skill in the art, the specific meanings of the above terms in the present utility model can be understood according to specific situations.

[0035] In addition, the technical features involved in different embodiments of the present utility model described below can be combined with each other as long as they do not conflict with each other.

[0036] The following combines Figures 1 to 9 , to describe the embodiments of the present utility model.

[0037] According to an embodiment of the present utility model, on the one hand, a chassis is provided. The chassis includes: a base body 21, at least two crawler wheels 23, a rotary brush 13, a driving member 24, and a transmission mechanism; the two crawler wheels 23 are spaced apart and arranged on the same side of the base body 21; each crawler wheel 23 has a driving hub 234, a driven hub 2341, and a crawler sleeved on the outer surfaces of the driving hub 234 and the driven hub 2341; the rotary brush 13 is arranged between the two crawler wheels 23 and contacts the crawler 231; the driving member 24 is arranged on the base body 21, and the driving member 24 can be a motor, a servo motor, etc.; the driving side of the transmission mechanism is connected to the output shaft of the driving member 24, and the driven sides of the transmission mechanism are respectively connected to the rotary brush 13 and the driving hubs 234 of the two crawler wheels 23; wherein, when the chassis works, the rotational speed of the rotary brush 13 is greater than the rotational speed of the driving hub 234.

[0038] In the above embodiment, when the chassis works, the output shaft of the driving member 24 can drive the transmission mechanism to work, and the transmission mechanism then drives the rotary brush 13 and the driving hubs 234 of the crawler wheels 23 to rotate. Since the rotational speed of the rotary brush 13 is greater than the rotational speed of the driving hub 234, the rotational speed of the rotary brush 13 can be made greater than the rotational speed of the crawler 231. The faster rotational speed of the rotary brush 13 can clean the crawler more times, so that more dust and other garbage on the crawler can be removed. Furthermore, when the chassis works on the surface to be cleaned, it can make the chassis walk more smoothly, especially when walking on an inclined surface to be cleaned such as a photovoltaic panel.

[0039] Further, the transmission mechanism may include a driving bevel gear 12, a rotating rod 11, a first transmission member, a second transmission member, and a third transmission member. The driving bevel gear 12 (i.e., the driving side of the transmission mechanism) is arranged on the output shaft of the driving member 24 and is coaxially connected to the output shaft; the rotating rod 11 is arranged on the base body 21, and a first bevel gear 14, a second bevel gear 15, and a third bevel gear 16 are arranged on the rotating rod 11. The first bevel gear 14 and the second bevel gear 15 are respectively located at both ends of the rotating rod 11, and the third bevel gear 16 is located between the first bevel gear 14 and the second bevel gear 15. The above bevel gears are respectively coaxially connected to the rotating rod 11.

[0040] The first transmission member includes a fourth bevel gear 171 and a first transmission gear set 172. One of the gears in the first transmission gear set 172 is coaxially connected to the fourth bevel gear 171, and the other gear in the first transmission gear set 172 is connected to one of the active hubs 234. The fourth bevel gear 171 meshes with the drive bevel gear 12. The transmission path is that the drive member 24 drives one of the active hubs 234 to rotate through the drive bevel gear 12, the fourth bevel gear 171, and the first transmission gear set 172 in sequence. The fourth bevel gear 171 meshes with the drive bevel gear 12 and the first bevel gear 14 respectively, that is, the fourth bevel gear 171 also meshes with the first bevel gear 14, so that while the drive member 24 drives the active hub 234 to rotate, it also drives the rotating rod 11 to rotate.

[0041] The second transmission member includes a fifth bevel gear 181 and a second transmission gear set 182. One of the gears in the second transmission gear set 182 is coaxially connected to the fifth bevel gear 181, and the other gear in the second transmission gear set 182 is connected to the other active hub 234. The fifth bevel gear 181 meshes with the second bevel gear 15. The transmission path is that the drive member 24 drives the other active hub 234 to rotate through the drive bevel gear 12, the fourth bevel gear 171, the rotating rod 11, the second bevel gear 15, the fifth bevel gear 181, and the second transmission gear set 182 in sequence.

[0042] The third transmission member includes a sixth bevel gear 191 and a third transmission gear set 192. One of the gears in the third transmission gear set 192 is coaxially connected to the sixth bevel gear 191, and the other gear in the third transmission gear set 192 meshes with the gear at one end of the rotary brush 13. The sixth bevel gear 191 meshes with the third bevel gear 16. The transmission path is that the drive member 24 drives the rotary brush 13 to rotate through the drive bevel gear 12, the fourth bevel gear 171, the rotating rod 11, the third bevel gear 16, the sixth bevel gear 191, and the third transmission gear set 192 in sequence.

[0043] It should be noted that the first transmission gear set 172, the second transmission gear set 182, and the third transmission gear set 192 all include a plurality of gears meshing with each other in sequence.

[0044] In one or more embodiments, as Figure 1 shown, the pitch diameters of all bevel gears are equal. Among all the transmission gear sets, except for the gear coaxially connected to the sixth bevel gear 191, the diameters of the remaining gears are equal and smaller than the gear coaxially arranged with the sixth bevel gear 191, so that the transmission speed increase at the third transmission gear set 192 is greater than that at the first transmission gear set 172 and the second transmission gear set 182, and thus the rotation speed of the rotary brush 13 is greater than the rotation speeds of the active hubs 234 in the two crawler wheels 23.

[0045] Combination Figure 1 As shown, during the operation of the chassis, the driving member 24 drives the driving hub 234 to rotate with the help of the driving bevel gear 12, the first transmission member and the second transmission member, and the driving hub 234 rotates to drive the crawler wheel 23 to move; the driving member 24 also drives the roller brush 13 to rotate with the help of the driving bevel gear 12, the rotating rod 11 and the third transmission member, and the roller brush 13 rotates so that the bristles 131 on the periphery of the roller brush 13 continuously rub and clean the crawler surface; because the fourth bevel gear 171 is respectively meshed with the driving bevel gear 12 and the first bevel gear 14, the driving member 24 drives the driving hub 234 to rotate, and also drives the rotating rod 11 to rotate, so that the roller brush 13 continuously rubs the crawler 23 as the crawler wheel 23 moves. 31 for cleaning; because the diameter of the gear coaxially arranged with the sixth bevel gear 191 in the transmission gear set is larger than the diameter of all other gears, and the diameters of all other gears are equal, the transmission gear set connected to the roller brush 13 obtains a greater speed-increasing effect, the rotation speed of the roller brush 13 is greater than the rotation speed of the driving wheel hub 234, and within the unit walking distance of the track wheel 23, the number of rotations of the roller brush 13 is doubled, and then the number of brushing at the track is doubled, so as to greatly improve the cleaning effect of the roller brush 13 on the track, the track wheel 23 is well cleaned, and there is no dust and dirt attached to the track, so as to make the track have good adhesion, and the photovoltaic cleaning robot walks stably on the photovoltaic panel, and the operation is reliable and stable. At the same time, the use of the driving bevel gear 12, the rotating rod 11, the first transmission member, the second transmission member and the third transmission member can also reduce the number of driving members to reduce the weight of the chassis.

[0046] In this embodiment, the driving member 24 is connected to the track wheel 23 and the roller brush 13 respectively by means of a transmission mechanism, so as to achieve the purpose of simultaneously driving the track wheel 23 and the roller brush 13 to work, and the roller brush 13 rotates to clean the dirt attached to the track. The transmission mechanism achieves the purpose of increasing the rotation speed of the roller brush 13 and making it greater than the rotation speed of the wheel hub of the track wheel 23 by means of the cooperation of the bevel gear, the transmission gear set, and the rotating rod 11. The transmission gear set achieves the purpose of increasing the rotation speed of the roller brush 13 and making it greater than the rotation speed of the wheel hub of the track wheel 23 by means of the large gear set at the third transmission gear set 192 and the parallel gears set at other positions; the rotation speed of the roller brush 13 is greater than the rotation speed of the driving wheel hub 234. Within the unit walking distance of the track wheel 23, the number of rotations of the roller brush 13 is doubled, and then the number of brushing times at the track is doubled, so as to greatly improve the cleaning effect of the roller brush 13 on the track, and the track wheel 23 is well cleaned; the track cleaning work is carried out synchronously with the track walking process, so as to ensure the real-time and immediate cleaning of foreign objects during the walking process of the track, and to ensure the reliability of track cleaning.

[0047] In some embodiments, the diameters of the gears in all transmission gear sets are equal, and the pitch diameters of the driving bevel gear 12, the first bevel gear 14, the second bevel gear 15, the fourth bevel gear 171, the fifth bevel gear 181, and the sixth bevel gear 191 are equal and smaller than the pitch diameter of the third bevel gear 16. As a result, the transmission speed increase at the third bevel gear 16 is greater than that during transmission at other bevel gears, and thus the rotational speed of the brush 13 is greater than the rotational speed of the driving hub 234.

[0048] Optionally, the chassis further includes a blower 22. The blower 22 is disposed on the base body 21. The crawler belt includes a plurality of suction holes 2312 which penetrate through the crawler belt 231. The plurality of suction holes 2312 are spaced apart in the circumferential direction of the crawler belt 231. The crawler wheel 23 further includes a support frame 232. The driving hub 234 and the driven hub 2341 are disposed at two ends of the support frame 232. The support frame 232 has a first channel 25 which communicates with the suction holes 2312 at the bottom of the crawler belt 231. The blower 22 communicates with the first channel 25. The blower 22 is configured to suck the gas in the first channel 25 and the suction holes 2312, so that the crawler belt is adsorbed at the photovoltaic panel. The driving hub 234 and the driven hub 2341 rotate to drive the crawler belt 231 to rotate, and the suction holes 2312 on the crawler belt 231 communicate with the blower 22 in sequence.

[0049] Combined with Figures 6 to 9 As shown, the support frame 232 includes a first rotating shaft 235 and a second rotating shaft 233. The first rotating shaft 235 is located on the first side of the support frame 232. The first rotating shaft 235 has a second channel 236 which communicates with the first channel 25. The blower 22 communicates with the second channel 236. The second rotating shaft 233 is located on the second side of the support frame 232 opposite to the first side. Wherein, the first rotating shaft 235 and the second rotating shaft 233 are coaxially arranged, and the first rotating shaft 235 and the second rotating shaft 233 are respectively hinged to the base body 21. During the walking process of the crawler wheel 23, when passing through an obstacle, under the jacking action of the obstacle, the crawler wheel 23 can generate relative rotation around the first rotating shaft 235 and the second rotating shaft 233, so as to reduce the pitching angle of the overall chassis and ensure stable operation.

[0050] Optionally, the blower 22 is disposed above the base body 21, and the air outlet 27 of the blower 22 faces the side of the chassis, so that when the air is discharged, the air flow is directly discharged into the external air, and the exhaust air flow does not pass through the chassis components, thereby increasing the service life of the chassis components. And it avoids the secondary pollution of the crawler belt caused by the dust discharged by the blower, and increases the walking stability of the chassis.

[0051] Taking the forward direction of the chassis as the front for reference, combined withFigure 4 As shown, two track wheels 23 are respectively arranged on the opposite sides of the base body 21 at intervals in the front and rear. The fan 22 includes a first fan 221 and a second fan 222. The chassis further includes a first C-shaped member 28 and a second C-shaped member 29. The first C-shaped member 28 is arranged at the bottom of the base body 21. The first C-shaped member 28 has a third channel, and the third channel is respectively communicated with the first channels 25 of the two rear track wheels 23 and the first fan 221. The second C-shaped member 29 is arranged at the bottom of the base body 21. The second C-shaped member 29 has a fourth channel, and the fourth channel is respectively communicated with the first channels 25 of the two front track wheels 23 and the second fan 222. By using the first C-shaped member 28 and the first fan to suck air from the suction holes of the two rear track wheels 23 at the same time, the power at the rear can be stabilized. By using the second C-shaped member 29 and the second fan to suck air from the suction holes of the two front track wheels 23 at the same time, the power at the front can be stabilized.

[0052] Specifically, the first C-shaped member 28 is respectively connected to the first rotating shafts 235 of the two rear track wheels 23, and the third channel of the first C-shaped member 28 is communicated with the second channel 236 in the first rotating shaft 235, and then is communicated with the first channels 25 of the two rear track wheels 23. The second C-shaped member 29 is respectively connected to the first rotating shafts 235 of the two front track wheels 23, and the fourth channel of the second C-shaped member 29 is communicated with the second channel 236 in the first rotating shaft 235, and then is communicated with the first channels 25 of the two front track wheels 23. The first fan 221 sequentially passes through the third channel, the second channel 236, and the first channel 25 in the first C-shaped member 28 to extract the air in the suction holes 2312 of the two rear track wheels 23. The second fan 222 sequentially passes through the fourth channel, the second channel 236, and the first channel 25 in the second C-shaped member 29 to extract the air in the suction holes 2312 of the two front track wheels 23, so that the tracks on the front and rear sides are both adsorbed at the photovoltaic panel. During the walking process of the track wheels 23, an adsorption effect is continuously formed at the positions where the tracks contact the photovoltaic panel, thereby ensuring the stable walking of the tracks and improving the stability and safety of the operation of the photovoltaic robot.

[0053] Optionally, the chassis further includes a compression spring 26. The compression spring 26 includes a fixed block 261 and two pressure rods 262 located on opposite sides of the fixed block 261. The fixed block 261 is disposed at the bottom of the base body 21. The two pressure rods 262 are respectively connected to the driving wheel hub 234 and the driven wheel hub 2341. The pressure rod 262 is used to apply a force towards the base body 21 to the crawler wheel 23, so as to reset the crawler wheel 23. During the walking process of the crawler wheel 23, when passing through an obstacle, the crawler wheel 23 generates relative rotation around the first rotating shaft 235 and the second rotating shaft 233, and the pressure rod 262 is lifted. After passing over the obstacle, the pressure rod 262 applies a force to the crawler wheel 23 due to the action of the elastic force, prompting the crawler wheel 23 to reset.

[0054] Optionally, the crawler 231 further includes a plurality of grooves 2311. The plurality of grooves 2311 are disposed on the outer surface of the crawler 231, and the plurality of grooves 2311 correspond to the plurality of air suction holes 2312 one by one. The air suction holes 2312 are provided inside the grooves 2311. During the walking process of the crawler 231, the notch abuts against the photovoltaic panel, and the fan 22 sucks the gas in the groove 2311 through the air suction hole 2312, so that a negative pressure is temporarily formed in the groove 2311, and then an adsorption effect is generated between the crawler at the groove 2311 and the photovoltaic panel, so as to improve the walking stability of the crawler.

[0055] Optionally, a receiving groove 238 is further provided at the support frame 232, and a belt transmission assembly 239 is provided inside the receiving groove 238. The receiving groove 238 is closed by a side plate 2321. The second rotating shaft 233 is connected to the driving wheel of the belt transmission assembly 239, and the driving wheel hub 234 is connected to the driven wheel of the belt transmission assembly 239. The driving member 24 drives the driving wheel hub 234 to rotate through a bevel gear, a transmission gear set, the second rotating shaft 233, and the belt transmission assembly 239 in sequence.

[0056] Optionally, at least two driving wheel hubs 234 are coaxially connected and are respectively located on opposite sides of the support frame 232.

[0057] Optionally, an opening is opened at the top of the connection position of the support frame 232 between the first channel 25 and the second channel 236, and the opening is closed by a cover plate 237.

[0058] In a second aspect, the present invention further provides a photovoltaic cleaning robot, including: the chassis as described in any one of the above and a cleaning member; the cleaning member is connected to the chassis, and when the chassis walks on the photovoltaic panel, the photovoltaic panel is cleaned by using the cleaning member.

[0059] Obviously, the above embodiments are only examples for clear illustration and not limitations on the implementation manners. Although the embodiments of the present invention have been described in conjunction with the accompanying drawings, those skilled in the art can make various modifications and variations without departing from the spirit and scope of the present invention, and such modifications and variations all fall within the scope defined by the present invention.

Claims

1. A chassis, characterized in that: The chassis comprises: Base body (21); At least two track wheels (23) are arranged at intervals on the same side of the base (21); each track wheel (23) comprises a driving wheel hub (234), a driven wheel hub (2341), and a track (231) sleeved on the outer surfaces of the driving wheel hub (234) and the driven wheel hub (2341); A roller brush (13) is disposed between the two track wheels (23) and is in contact with the track (231); A driving member (24) is disposed on the base (21); A transmission mechanism, the driving side of which is connected to the output shaft of the driving member (24), and the driven side of which is respectively connected to the roller brush (13) and the driving wheel hubs (234) of the two track wheels (23); Wherein, when the chassis is working, the rotation speed of the roller brush (13) is greater than the rotation speed of the driving wheel hub (234).

2. The chassis according to claim 1, characterized in that: The transmission mechanism comprises: A driving bevel gear (12) arranged on an output shaft of the driving member (24); A rotating rod (11) is arranged on the base (21); a first bevel gear (14), a second bevel gear (15) and a third bevel gear (16) are arranged on the rotating rod (11); the first bevel gear (14) and the second bevel gear (15) are respectively located at two ends of the rotating rod (11); and the third bevel gear (16) is located between the first bevel gear (14) and the second bevel gear (15); A first transmission member comprises a fourth bevel gear (171) and a first transmission gear set (172), wherein the fourth bevel gear (171) is coaxially connected to one of the gears in the first transmission gear set (172), another gear in the first transmission gear set (172) is connected to one of the driving hubs (234), and the fourth bevel gear (171) is meshed with the driving bevel gear (12) and the first bevel gear (14) respectively; A second transmission member comprises a fifth bevel gear (181) and a second transmission gear set (182), wherein the fifth bevel gear (181) is coaxially connected to one gear in the second transmission gear set (182), another gear in the second transmission gear set (182) is connected to another driving hub (234), and the fifth bevel gear (181) is meshed with the second bevel gear (15); A third transmission member comprises a sixth bevel gear (191) and a third transmission gear set (192), wherein the sixth bevel gear (191) is coaxially connected to one gear in the third transmission gear set (192), the other gear in the third transmission gear set (192) is meshed with a gear at one end of the roller brush (13), and the sixth bevel gear (191) is meshed with the third bevel gear (16); The tooth surface diameters of all bevel gears are equal, and except for the gear coaxially connected to the sixth bevel gear (191) in all transmission gear sets, the diameters of the remaining gears are equal and smaller than the gear coaxially arranged with the sixth bevel gear (191).

3. The chassis according to claim 1, characterized in that: The transmission mechanism comprises: A driving bevel gear (12) arranged on an output shaft of the driving member (24); A rotating rod (11) is arranged on the base (21); a first bevel gear (14), a second bevel gear (15) and a third bevel gear (16) are arranged on the rotating rod (11); the first bevel gear (14) and the second bevel gear (15) are respectively located at two ends of the rotating rod (11); and the third bevel gear (16) is located between the first bevel gear (14) and the second bevel gear (15); A first transmission member comprises a fourth bevel gear (171) and a first transmission gear set (172), wherein the fourth bevel gear (171) is coaxially connected to one of the gears in the first transmission gear set (172), another gear in the first transmission gear set (172) is connected to one of the driving hubs (234), and the fourth bevel gear (171) is meshed with the driving bevel gear (12) and the first bevel gear (14) respectively; A second transmission member comprises a fifth bevel gear (181) and a second transmission gear set (182), wherein the fifth bevel gear (181) is coaxially connected to one gear in the second transmission gear set (182), another gear in the second transmission gear set (182) is connected to another driving hub (234), and the fifth bevel gear (181) is meshed with the second bevel gear (15); A third transmission member comprises a sixth bevel gear (191) and a third transmission gear set (192), wherein the sixth bevel gear (191) is coaxially connected to one gear in the third transmission gear set (192), the other gear in the third transmission gear set (192) is meshed with a gear at one end of the roller brush (13), and the sixth bevel gear (191) is meshed with the third bevel gear (16); The diameters of the gears in all the transmission gear sets are equal, and the tooth surface diameters of the driving bevel gear (12), the first bevel gear (14), the second bevel gear (15), the fourth bevel gear (171), the fifth bevel gear (181), and the sixth bevel gear (191) are equal and smaller than the tooth surface diameter of the third bevel gear (16).

4. The chassis according to any one of claims 1 to 3, characterized in that: The chassis further comprises a fan (22), wherein the fan (22) is arranged on the base (21); the crawler (231) comprises a plurality of air suction holes (2312), wherein the plurality of air suction holes (2312) are spaced apart and distributed in the circumferential direction of the crawler (231); and the crawler wheel (23) further comprises: A support frame (232), the driving wheel hub (234) and the driven wheel hub (2341) are arranged at two ends of the support frame (232), the support frame (232) has a first channel (25), the first channel (25) is connected to an air intake hole (2312) located at the bottom of the crawler (231), and the fan (22) is connected to the first channel (25).

5. The chassis according to claim 4, characterized in that: The support frame (232) comprises: a first rotating shaft (235), located on a first side of the support frame (232), the first rotating shaft (235) having a second channel (236), the second channel (236) being in communication with the first channel (25), and the fan (22) being in communication with the second channel (236); A second rotating shaft (233) is located on a second side of the support frame (232) opposite to the first side; Wherein, the first rotating shaft (235) and the second rotating shaft (233) are coaxially arranged, and the first rotating shaft (235) and the second rotating shaft (233) are respectively hinged to the base (21).

6. The chassis according to claim 4, characterized in that: The fan (22) is arranged above the base (21), and the air outlet (27) of the fan (22) faces the side of the chassis.

7. The chassis according to claim 6, characterized in that The base (21) has two track wheels (23) spaced apart from each other on opposite sides thereof; the fan (22) includes a first fan and a second fan; and the chassis further includes: A first C-shaped member (28) is arranged at the bottom of the base (21), the first C-shaped member (28) having a third channel, and the third channel is connected to the first channels (25) of the two rear track wheels (23) and the first fan respectively; The second C-shaped member (29) is arranged at the bottom of the base (21), and the second C-shaped member (29) has a fourth channel, and the fourth channel is respectively connected to the first channels (25) of the two front track wheels (23) and the second fan.

8. The chassis according to claim 5, characterized in that: The chassis also includes: The compression spring (26) comprises a fixing block (261) and two pressure rods (262) located on opposite sides of the fixing block (261); the fixing block (261) is arranged at the bottom of the base (21); the two pressure rods (262) are respectively connected to the driving wheel hub (234) and the driven wheel hub (2341); the pressure rods (262) are used to apply a force to the track wheel (23) toward the base (21).

9. The chassis according to claim 8, characterized in that The crawler (231) further comprises a plurality of grooves (2311), wherein the plurality of grooves (2311) are arranged on the outer surface of the crawler (231), and the plurality of grooves (2311) correspond one-to-one to the plurality of air suction holes (2312).

10. A photovoltaic cleaning robot, characterized in that: include: A chassis as described in any one of claims 1 to 9 above; A cleaning member is connected to the chassis.

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