Self-adaptive obstacle crossing photovoltaic cleaning robot

Abstract

The self-adaptive obstacle-crossing photovoltaic cleaning robot comprises a portal frame, a self-adaptive cleaning assembly and two sets of walking obstacle-crossing mechanisms, the self-adaptive cleaning assembly and the two sets of walking obstacle-crossing mechanisms are installed on the portal frame, and each walking obstacle-crossing mechanism comprises a walking obstacle-crossing frame main beam transversely installed at the lower end of the corresponding vertical part in the front-back direction. Self-adaptive chassis supports are installed at the two ends of the walking obstacle crossing frame main beam respectively, crawler belt corner joint assemblies are arranged between the walking obstacle crossing frame main beam and the self-adaptive chassis supports, and the self-adaptive chassis supports can be driven by the crawler belt corner joint assemblies to rotate left and right. All parts of the self-adaptive chassis support are hinged, and the self-adaptive chassis support can cross obstacles for cleaning. According to the technical scheme, the self-adaptive obstacle crossing photovoltaic cleaning robot can cross unavoidable obstacles in severe terrain environments such as desert, gobi, mud beaches and ice and snow to clean photovoltaic panels, angle steering adjustment can be carried out, and automatic line changing treatment can be carried out in a narrow space.

Description

Technical Field

[0001] The utility model relates to the technical field of photovoltaic cleaning equipment, in particular to an adaptive obstacle-crossing photovoltaic cleaning robot. Background Art

[0002] As people pay more and more attention to clean energy, the photovoltaic industry has developed rapidly, and the installed capacity of photovoltaic power generation has shown a trend of rapid growth year by year.

[0003] Currently, photovoltaic panels are often installed exposed to the elements. Over time, dust and fine particles accumulate on their surfaces, severely impacting photoelectric conversion efficiency and potentially damaging the system. PV systems are often installed in harsh desert and Gobi environments, making manual cleaning extremely difficult and risky. Consequently, an automated photovoltaic panel cleaning robot has emerged, effectively removing dust and fine particles from the panels' surfaces.

[0004] Please refer to the Chinese patent for a photovoltaic panel automatic dust cleaning robot (application number: 202223143368.2). Existing photovoltaic panel automatic dust cleaning robots can only clean photovoltaic panels on fixed photovoltaic brackets or adjustable-angle photovoltaic panels with the same tilt direction (there may be small angle differences or height differences). In order to maximize the absorption of sunlight to improve the photoelectric conversion efficiency, more and more photovoltaic power stations have begun to popularize flat single-axis tracking photovoltaic panels. Flat single-axis tracking photovoltaic panels are a photovoltaic system in which photovoltaic panels are mounted on flat single-axis photovoltaic brackets. Compared with traditional fixed photovoltaic brackets, flat single-axis photovoltaic brackets use a bracket that can adjust the angle of the photovoltaic panel over a large range through a single-axis tracking system, realizing real-time tracking of the photovoltaic panel by the sun, greatly improving the power generation capacity of the photovoltaic panel. However, due to structural design problems, the posture adjustment range of the roller brush of existing photovoltaic panel automatic cleaning robots is very small, and it is not suitable for flat single-axis tracking photovoltaic panels that can be rotated and adjusted at a large angle.

[0005] Therefore, the applicant in this case has designed an adaptive photovoltaic cleaning robot suitable for flat single-axis tracking photovoltaic panels. Please refer to Chinese patent application number 202311088309.6. By arranging two lifting drive mechanisms on the two upright parts of the gantry, the telescopic assembly cooperates with the lifting drive mechanisms on both sides to adjust the posture of the electric roller brush over a wide range. Not only can the height of the electric roller brush be quickly raised and lowered, but the tilt direction of the electric roller brush can also be quickly adjusted. At the same time, the tilt angle of the electric roller brush can also be freely adjusted over a wide range. It is suitable for cleaning both flat single-axis tracking photovoltaic panels and conventional fixed photovoltaic panels, and has good versatility.

[0006] In the process of applying the above-mentioned adaptive photovoltaic cleaning robot, the applicant in this case found that although the existing walking mechanism can adapt to harsh terrain environments such as deserts, Gobi, mudflats, ice and snow, and can turn at angles, etc., it is inevitable that there are various obstacles in harsh terrain environments such as deserts, Gobi, mudflats, ice and snow. Some obstacles cannot be avoided and need to be crossed, but the existing walking mechanism is difficult to achieve the function of crossing obstacles.

[0007] Solving the above problems has become a top priority. Utility Model Content

[0008] In order to solve the above technical problems, the utility model provides an adaptive obstacle-crossing photovoltaic cleaning robot.

[0009] The technical solution is as follows:

[0010] An adaptive obstacle-crossing photovoltaic cleaning robot comprises a gantry and an adaptive cleaning assembly mounted on the gantry, wherein the gantry comprises a transversely extending crossbeam portion and two upright portions extending vertically downward and arranged at both ends of the crossbeam portion, wherein the crossbeam portion and the two upright portions together constitute a "door"-shaped structure, and a set of walking obstacle-crossing mechanisms are installed at the lower ends of the two upright portions, characterized in that the walking obstacle-crossing mechanism comprises a walking obstacle-crossing frame main beam mounted transversely along the front-back direction at the lower ends of the corresponding upright portions, adaptive chassis brackets are respectively mounted at both ends of the walking obstacle-crossing frame main beam, a crawler angle joint assembly is arranged between the walking obstacle-crossing frame main beam and the adaptive chassis bracket, and the adaptive chassis bracket can rotate left and right under the drive of the crawler angle joint assembly;

[0011] A middle electric walking crawler is provided at the bottom of the main beam of the walking obstacle crossing frame, and the middle electric walking crawler is connected to the main beam of the walking obstacle crossing frame by two lifting assemblies. One end of the adaptive chassis bracket is connected to the track angle joint assembly, and the other end of the adaptive chassis bracket is provided with a side electric walking crawler. The adaptive chassis bracket includes a connecting support fixedly connected to the track angle joint assembly and a chassis frame hinged to the front of the side electric walking crawler. An upper connecting rod is hinged between the upper part of the connecting support and the upper end of the chassis frame, and a lower connecting rod is hinged between the lower part of the connecting support and the middle of the chassis frame. A telescopic spring is installed between the upper connecting rod and the lower connecting rod. One end of the telescopic spring is connected to the connecting support, and the other end is connected to the chassis frame. A support rod is hinged at the middle of the chassis frame and the side electric walking crawler.

[0012] Preferably, the chassis frame consists of a straight rod and a U-shaped fork, which are integrally formed. The upper end of the straight rod is hinged to the upper connecting rod. Mounting bases are provided on both sides of the side electric walking track. Shock absorber seats are installed on all the mounting bases. The other end of the U-shaped fork is hinged to the front shock absorber seat. Support rods are hinged to both upper arms of the U-shaped fork. The other end of the support rod is connected to the side electric walking track through the rear shock absorber seat. The side electric walking track is located between the U-shaped fork and the support rod. A side rotation drive motor is installed on one side inside the side electric walking track.

[0013] Preferably, the crawler corner joint assembly is installed between the main beam of the walking and obstacle-crossing frame and the adaptive chassis bracket. The crawler corner joint assembly includes a first corner joint, a second corner joint, and a worm gear reducer disposed between the first corner joint and the second corner joint. A drive motor is provided on one side of the worm gear reducer close to the main beam of the walking and obstacle-crossing frame. The drive motor extends into the main beam of the walking and obstacle-crossing frame. A bent rotating shaft pin is disposed through the crawler corner joint assembly, and the bent rotating shaft pin sequentially passes through the first corner joint, the second corner joint, and the worm gear reducer, capable of driving the adaptive chassis bracket to rotate through the worm gear reducer.

[0014] Preferably, both the first corner joint and the second corner joint are in a "凵" - shaped structure. The second corner joint is connected to the connecting support. The first corner joint is connected to one end of the main beam of the walking and obstacle-crossing frame. The first corner joint and the second corner joint are butt - jointed. Two same corner positioning pins are disposed through the first corner joint and the second corner joint, capable of fixing the first corner joint and the second corner joint.

[0015] Preferably, the lifting assembly includes a crawler telescopic outer cylinder and a crawler telescopic inner cylinder. The lower end of the crawler telescopic outer cylinder is connected to the middle electric walking track. The crawler telescopic inner cylinder is located at the upper end of the crawler telescopic outer cylinder. A screw - driven lifting device is provided inside the lifting assembly. One end of the screw - driven lifting device sequentially passes through the crawler telescopic inner cylinder and the crawler telescopic outer cylinder. The lower end of the screw - driven lifting device is fixed at the middle position of the crawler telescopic outer cylinder, and the other end is horizontally disposed inside the main beam of the walking and obstacle-crossing frame. A cover plate is provided on the main beam of the walking and obstacle-crossing frame, capable of containing the screw - driven lifting device inside the main beam of the walking and obstacle-crossing frame.

[0016] Preferably, a pin seat is provided at the middle position on the main beam of the walking and obstacle-crossing frame. The lower end of the upright part is hinged to the main beam of the walking and obstacle-crossing frame through the pin seat. Shock absorber seats are provided on both sides of the pin seat. Shock absorbers are connected to both shock absorber seats, and the other end of the shock absorber is hinged to both lower ends of the upright part.

[0017] Preferably: the adaptive cleaning component includes an electric roller brush and two lifting drive mechanisms, the two lifting drive mechanisms are respectively vertically installed on the two upright parts, and can respectively drive the corresponding telescopic rod connecting seats to rise and fall, and at least one set of telescopic components is installed in the shell assembly of the electric roller brush, and each telescopic component passes through the two ends of the electric roller brush along the length direction of the electric roller brush and is respectively hinged on the two telescopic rod connecting seats.

[0018] Preferably, the telescopic assembly includes two sliding rods extending along the length direction of the housing assembly, two synchronous racks extending along the length direction of the housing assembly, and a follower gear that can rotate relative to the housing assembly. The two sliding rods can slide along the length direction of the housing assembly. The outer ends of the two sliding rods respectively pass through the corresponding ends of the housing assembly and are hinged to the corresponding telescopic rod connecting seats. The inner ends of the two sliding rods are respectively fixedly connected to the corresponding synchronous racks. The follower gear is simultaneously engaged with the two synchronous racks.

[0019] The shell assembly includes two end plates relatively arranged at both ends of the roller brush and two sliding-fitting profiles relatively arranged on both sides of the roller brush, the two end plates and the two sliding-fitting profiles together constitute a roller brush mounting frame compatible with the roller brush, the roller brush is rotatably mounted on the end plates, the top of the roller brush mounting frame is covered with a roller brush shell, and the roller brush protrudes downward from the roller brush mounting frame, and there are two sets of telescopic components, the two ends of the two end plates respectively protrude from the corresponding sliding-fitting profiles to form a sliding portion through-out portion for the corresponding sliding rod to pass through, and each sliding fitting profile respectively constitutes a telescopic component bracket compatible with the corresponding telescopic component together with the corresponding two sliding portion through-out portions, the telescopic component bracket is covered with a telescopic component shell, and each sliding rod is fixed with at least one slider that slides in cooperation with the corresponding sliding fitting profile.

[0020] Preferably: a plurality of first ultrasonic distance sensors are installed on the side of the telescopic component shell away from the roller brush shell, the detection direction of each first ultrasonic distance sensor is parallel to the protruding direction of the roller brush, a plurality of forward-extending ultrasonic sensor brackets are installed on the telescopic component shell, and a second ultrasonic distance sensor whose detection direction is parallel to the protruding direction of the roller brush is installed on the outer end of each ultrasonic sensor bracket, and cameras are installed on the front and rear sides of the gantry.

[0021] Compared with the prior art, the present invention has the following beneficial effects:

[0022] An adaptive obstacle-crossing photovoltaic cleaning robot adopts the above technical solution. When encountering unavoidable obstacles in harsh terrain environments such as deserts, Gobi, mudflats, ice and snow, the adaptive chassis brackets at the front end of the walking obstacle-crossing mechanism are movably connected and can be lifted upward or stretched downward. When encountering an obstacle, the adaptive chassis bracket at the front end adapts to the obstacle situation and drives the side electric walking tracks to cross the obstacle under the action of the drive motor, thereby driving the rear middle electric walking tracks, and cooperating with the telescopic mechanism to complete the obstacle crossing. At the same time, the track angle joint assembly can flexibly change its angle, thereby effectively correcting its angle or autonomously transforming it in a narrow space. A shock-absorbing and shock-absorbing structure is provided on the walking obstacle-crossing mechanism, which can ensure that the photovoltaic cleaning robot remains stable when crossing obstacles. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] Figure 1 This is a schematic diagram of the structure of the adaptive high-obstacle-crossing photovoltaic cleaning robot;

[0024] Figure 2 Schematic diagram of a photovoltaic cleaning robot cleaning photovoltaic panels;

[0025] Figure 3 This is a structural diagram of the walking obstacle-crossing mechanism;

[0026] Figure 4 Schematic diagram of the adaptive chassis bracket and track corner joint assembly;

[0027] Figure 5 This is a structural diagram of the central electric walking track and telescopic mechanism;

[0028] Figure 6 for Figure 5 Front view of

[0029] Figure 7 Schematic diagram of the coordination relationship between the gantry and the adaptive cleaning component;

[0030] Figure 8 Schematic diagram of the coordination between the electric roller brush and the telescopic assembly;

[0031] Figure 9 It is a schematic diagram of the coordination relationship between the upright portion and the lifting drive mechanism. DETAILED DESCRIPTION

[0032] The present invention will be further described below with reference to the embodiments and accompanying drawings.

[0033] like Figures 1-9As shown, an adaptive obstacle-crossing photovoltaic cleaning robot mainly includes a gantry 1, an adaptive cleaning component and two walking obstacle-crossing mechanisms 7, all mounted on the gantry 1. The adaptive cleaning component is used to clean flat single-axis tracking photovoltaic panels, and the two walking obstacle-crossing mechanisms 7 are used for the adaptive photovoltaic cleaning robot to walk.

[0034] The gantry 1 includes a transversely extending beam portion 1b and two upright portions 1a extending vertically downward and arranged at both ends of the beam portion 1b. The two ends of the beam portion 1b are respectively fixedly connected to the upper ends of the corresponding upright portions 1a, so that the beam portion 1b and the two upright portions 1a together form a "gate"-shaped structure, which is stable and reliable.

[0035] Furthermore, the upright portion 1a includes two upright portion vertical pipes 1a1 arranged along the walking direction and a plurality of upright portion horizontal pipes 1a2 connected between the two upright portion vertical pipes 1a1. Each upright portion horizontal pipe 1a2 is arranged along the height direction of the two upright portion vertical pipes 1a1, so that the upright portion 1a has a ladder-like structure, which is not only stable and reliable, but also convenient for installing the lifting drive mechanism 3.

[0036] See Figure 7-Figure 9 The upper and lower ends of the lifting drive mechanism 3 are respectively installed on the corresponding upright part transverse tube 1a2, and two reinforcing transverse tubes 1c arranged along the walking direction are connected between the two upright parts 1a, and the two ends of the two reinforcing transverse tubes 1c are respectively fixedly connected to the corresponding upright part vertical tube 1a1, and an inclined support tube 1d is connected between each upright part vertical tube 1a1 and the corresponding reinforcing transverse tube 1c. Therefore, by arranging the reinforcing transverse tube 1c and the oblique support tube 1d, the structural strength of the gantry 1 is greatly improved.

[0037] In this embodiment, a lifting drive mechanism 3 is vertically mounted on the inner side of each of the two upright portions 1a, which is used to drive the corresponding telescopic rod connecting base 4 to rise and fall. At least one telescopic assembly 5 is mounted in the housing assembly 2a of the electric roller brush 2. The telescopic assembly 5 includes two sliding rods 5a extending along the length of the housing assembly 2a, two synchronous racks 5b extending along the length of the housing assembly 2a, and a follower gear 5c that is rotatable relative to the housing assembly 2a. The two sliding rods 5a are capable of sliding along the length of the housing assembly 2a. The outer ends of the two sliding rods 5a extend from the corresponding ends of the housing assembly 2a and are hinged to the corresponding telescopic rod connecting base 4. The inner ends of the two sliding rods 5a are fixedly connected to the corresponding synchronous racks 5b, and the follower gear 5c is simultaneously engaged with the two synchronous racks 5b.

[0038] Therefore, when the two lifting drive mechanisms 3 respectively drive the corresponding telescopic rod connecting base 4 to rise and fall, since the inner ends of the two sliding rods 5a cooperate with the follower gear 5c through the synchronous rack 5b, the two sliding rods 5a can be accurately and stably synchronized and extended. When adjusting the inclination angle of the electric roller brush 2, it will not deviate left and right relative to the photovoltaic panel, so that the electric roller brush 2 is always in the center position, ensuring that the position of the electric roller brush 2 is accurately controllable.

[0039] Also, see Figure 1 and Figure 7 By respectively arranging the two lifting drive mechanisms 3 on the two upright parts 1a of the gantry 1, the telescopic component 5 cooperates with the lifting drive mechanisms 3 on both sides to adjust the posture of the electric roller brush 2 in a large range. Not only can the height of the electric roller brush 2 be quickly lifted and lowered, but the tilt direction of the electric roller brush 2 can also be quickly adjusted. At the same time, the tilt angle of the electric roller brush 2 can also be freely adjusted in a large range. It is suitable for cleaning flat single-axis tracking photovoltaic panels and for cleaning conventional fixed photovoltaic panels, and has good versatility.

[0040] See Figure 7 and Figure 8 The shell assembly 2a includes two end plates 2a1 relatively arranged at both ends of the roller brush 2b and two sliding-fit profiles 2a2 relatively arranged on both sides of the roller brush 2b. The two end plates 2a1 and the two sliding-fit profiles 2a2 together constitute a roller brush mounting frame adapted to the roller brush 2b, and the roller brush 2b is rotatably mounted on the end plates 2a1.

[0041] In this embodiment, the telescopic assembly 5 comprises two sets. The ends of the two end plates 2a1 protrude from the corresponding sliding-fit profiles 2a2 to form sliding-part projections 2a11 for the corresponding sliding rods 5a. Each sliding-fit profile 2a2, together with the two corresponding sliding-part projections 2a11, forms a telescopic assembly bracket compatible with the corresponding telescopic assembly 5. Each bracket is covered with a telescopic assembly housing 2a4, effectively protecting the telescopic assembly 5. Each sliding rod 5a is securely mounted with at least one slider 5e that slidably engages with the corresponding sliding-fit profile 2a2, ensuring the stability and reliability of the sliding and retracting movement of the sliding rod 5a. In this embodiment, two sliding guide rods are mounted on the side of the slider 5e near the sliding-fit profile 2a2. These two sliding guide rods slidably engage with the slide grooves of the sliding-fit profile 2a2, ensuring stability and reliability.

[0042] Furthermore, the follower gears 5c are rotatably mounted on corresponding gear brackets 5f, which are fixedly mounted on corresponding sliding-fit profiles 2a2, ensuring the secure mounting of the follower gears 5c. Furthermore, the gear brackets 5f are rectangular ring-shaped, with the two synchronization racks 5b also inserted into the gear brackets 5f, ensuring the stable and reliable engagement of the two synchronization racks 5b with the follower gears 5c.

[0043] See Figure 7-Figure 9 The lifting drive mechanism 3 includes a vertically arranged slide 3a, a slide 3b that can be lifted and lowered along the slide 3a, and a slide drive assembly 3c for driving the slide 3b to lift and lower. The slide 3a includes two lifting guide rods 3a1 arranged vertically opposite to each other, and the upper and lower ends of the two lifting guide rods 3a1 are fixedly mounted on the corresponding upright parts 1a through guide rod mounting seats 3a2. The slide 3b can be lifted and lowered along the two lifting guide rods 3a1. Each telescopic rod connecting seat 4 is fixedly mounted on the inner side of the corresponding slide 3b. The slide drive assembly 3c includes two sprockets 3c1 and a lifting drive motor 3c2 mounted on one of the guide rod mounting seats 3a2, one of the sprockets 3c1 is rotatably mounted on a guide rod mounting seat 3a2 away from the lifting drive motor 3c2, and the other sprocket 3c1 is synchronously rotatably fitted on the motor shaft of the lifting drive motor 3c2, and the two sprockets 3c1 are driven by a chain 3c3. The lifting control is achieved through chain drive, which is particularly suitable for desert environments. It is not only stable and reliable and not prone to jamming, but also durable and easy to maintain.

[0044] In this embodiment, the outer side of the slide 3b is provided with a chain connecting seat 3b1, and the top and bottom of the chain connecting seat 3b1 are respectively provided with an upper connecting member mounting plate 3b11 and a lower connecting member mounting plate 3b12, and the lower connecting member mounting plate 3b12 is fixedly installed with a downwardly extending chain fixed connecting head 3b2, and the upper connecting member mounting plate 3b11 is provided with a chain movable connecting head 3b3, which can be raised and lowered along the upper connecting member mounting plate 3b11, and the chain movable joint 3b3 is coaxially arranged with the chain fixed connecting head 3b2, and the chain movable joint 3b3 and the chain fixed connecting head 3b2 are respectively hinged to the two ends of the chain 3c3, and a plurality of locking nuts 3b4 are threadedly installed on the chain movable joint 3b3, and at least one locking nut 3b4 is provided on the upper and lower sides of the upper connecting member mounting plate 3b11, so that the chain movable joint 3b3 can be unlocked or locked by cooperating with each locking nut 3b4. That is, by adjusting the position of each locking nut 3b4 on the chain movable joint 3b3, the position of the chain movable joint 3b3 on the upper connector mounting plate 3b11 can be adjusted to loosen or tighten the chain 3c3, thereby adjusting the tension of the chain 3c3.

[0045] Furthermore, a connector mounting hole is provided on the upper connector mounting plate 3b11, and an elastic washer 3b5 adapted to the connector mounting hole is mounted on the chain movable connector 3b3. The elastic washer 3b5 is elastically supported between the chain movable connector 3b3 and the connector mounting hole. At least one locking nut 3b4 can be provided at the upper and lower ends of the elastic washer 3b5, so that the elastic washer 3b5 can be compressed or released by the locking nuts 3b4 to lock or unlock the chain movable connector 3b 3, that is: when the locking nut 3b4 at the upper and lower positions clamps the elastic washer 3b5, the length of the elastic washer 3b5 is compressed, the outer diameter of the elastic washer 3b5 becomes larger, and the hole diameter becomes smaller, thereby locking the position of the chain movable joint 3b3; conversely, when the locking nut 3b4 at the upper and lower positions moves away from the elastic washer 3b5, the length of the elastic washer 3b5 is restored, the outer diameter of the elastic washer 3b5 becomes smaller, and the hole diameter becomes larger, thereby unlocking the chain movable joint 3b3, and the chain movable joint 3b3 can be adjusted up and down.

[0046] See Figure 9 Limit switches 6 are mounted at both ends of the upright portion 1a. These limit switches are located near the guide rod mounting base 3a2, respectively, to limit the maximum upward and downward sliding positions of the slide 3b and prevent collision with the guide rod mounting base 3a2. Specifically, the limit switches 6 include a first proximity sensor 6a, a second proximity sensor 6b, and a physical push-type trigger sensor 6c. The first proximity sensor 6a, the second proximity sensor 6b, and the physical push-type trigger sensor 6c are positioned sequentially toward the adjacent guide rod mounting base 3a2.

[0047] See Figure 1 and Figure 7 Multiple first ultrasonic distance sensors 9 are mounted on the side of the telescopic assembly housing 2a4 away from the roller brush housing 2a3. The detection direction of each first ultrasonic distance sensor 9 is parallel to the protruding direction of the roller brush 2b. Multiple forward-extending ultrasonic sensor brackets 10 are mounted on the telescopic assembly housing 2a4. Each ultrasonic sensor bracket 10 has a second ultrasonic distance sensor 11 mounted on its outer end, with its detection direction parallel to the protruding direction of the roller brush 2b. Specifically, the second ultrasonic distance sensor 11 is located in front of the first ultrasonic distance sensor 9. The second ultrasonic distance sensor 11 first pre-identifies the position and height of the photovoltaic panel. The first ultrasonic distance sensor 9, which is in sync with the electric roller brush 2, then accurately identifies the position and height of the photovoltaic panel. This allows the electric roller brush 2 to maintain the correct position and a reasonable distance from the photovoltaic panel, ensuring effective cleaning of the panel.

[0048] At the same time, cameras 12 are installed on the front and rear sides of the gantry 1. The adaptive photovoltaic cleaning robot obtains visual images through the camera 12 and uses image recognition to obtain the position of the photovoltaic panel, so as to make path planning and control the position of the electric roller brush 2, so that the electric roller brush 2 is always close to the top of the photovoltaic panel, that is: by setting up the camera 12, visual recognition is used to control the adaptive photovoltaic cleaning robot to walk along the direction of the photovoltaic panel arrangement.

[0049] It should be noted that see Figures 1-6 A set of walking obstacle overcoming mechanisms 7 are installed at the lower ends of the two upright parts 1a. By utilizing the speed difference between the two sets of walking obstacle overcoming mechanisms 7, functions such as turning (but not turning on the spot), controlling the direction of travel and overcoming obstacles can be achieved.

[0050] See Figures 1-6 The walking obstacle overcoming mechanism 7 includes a walking obstacle overcoming frame main beam 7a installed laterally along the front-to-back direction at the lower end of the corresponding upright portion 1a, and adaptive chassis brackets 7b are respectively installed at both ends of the walking obstacle overcoming frame main beam 7a. A crawler track angle joint assembly 7d is provided between the walking obstacle overcoming frame main beam 7a and the adaptive chassis bracket 7b. The adaptive chassis bracket 7b can rotate left and right under the drive of the crawler track angle joint assembly 7d, and can be connected to the walking obstacle overcoming frame main beam 7a in a straight line, and can also form a certain angle between the crawler track angle joint assembly 7d and the walking obstacle overcoming frame main beam 7a;

[0051] The bottom of the main beam 7a of the walking obstacle frame is provided with a middle electric walking crawler 7i, and the middle electric walking crawler 7i is connected to the main beam 7a of the walking obstacle frame through two lifting components 7c. One end of the adaptive chassis bracket 7b is connected to the track angle joint component 7d, and the other end of the adaptive chassis bracket 7b is provided with a side electric walking crawler 7f. The adaptive chassis bracket 7b includes a connecting support 7b1 fixedly connected to the track angle joint component 7d and a chassis frame 7b4 hinged to the front of the side electric walking crawler 7f. An upper connecting rod 7b2 is hinged between the upper part of b1 and the upper end of the chassis frame 7b4, and a lower connecting rod 7b3 is hinged between the lower part of the connecting support 7b1 and the middle part of the chassis frame 7b4. A telescopic spring 7b6 is installed between the upper connecting rod 7b2 and the lower connecting rod 7b3. One end of the telescopic spring 7b6 is connected to the connecting support 7b1, and the other end is connected to the chassis frame 7b4. A support rod 7b5 is hinged between the chassis frame 7b4 and the middle part of the side electric walking track 7f. The side electric walking track 7f and the adaptive chassis bracket 7b cooperate with each other to complete the obstacle crossing function.

[0052] The chassis frame 7b4 consists of a straight rod 7b41 and a U-shaped fork 7b42. The straight rod 7b41 and the U-shaped fork 7b42 are integrally formed. The upper end of the straight rod 7b41 is hinged to the upper connecting rod 7b2. Mounting bases 7f1 are provided on both sides of the side electric walking track 7f. Shock absorber seats 7g are mounted on all the mounting bases 7f1. The other end of the U-shaped fork 7b42 is hinged to the front shock absorber seat 7g1. Support rods 7b5 are hinged to both upper arms on both sides of the U-shaped fork 7b42. The other end of the support rod 7b5 is connected to the side electric walking track 7f through the rear shock absorber seat 7g2. The side electric walking track 7f is located between the U-shaped fork 7b42 and the support rod 7b5. A side rotation drive motor 7h is mounted on one side inside the side electric walking track 7f. Under the action of the side rotation drive motor 7h, the side electric walking track 7f can adapt to the adaptive chassis bracket 7b.

[0053] The crawler turning joint assembly 7d is installed between the walking obstacle-crossing frame main beam 7a and the adaptive chassis bracket 7b. The crawler turning joint assembly 7d includes a first turning joint 7d1, a second turning joint 7d2, and a worm gear reducer 7d3 provided between the first turning joint 7d1 and the second turning joint 7d2. The worm gear reducer 7d3 is fixed to the first turning joint 7d1 and the second turning joint 7d2. A turning motor bracket 7d4 is provided at one end of the first turning joint 7d1 close to the walking obstacle-crossing frame main beam 7a. A turning motor 7d7 is mounted on the turning motor bracket 7d4. One end of the turning motor 7d7 passes through the first turning joint 7d1 and is connected to the worm gear reducer 7d3, and the other end extends into the walking obstacle-crossing frame main beam 7a. A bent rotating shaft pin 7d6 is穿设在 the crawler turning joint assembly 7d. The bent rotating shaft pin 7d6 passes through the first turning joint 7d1, the second turning joint 7d2, and the worm gear reducer 7d3 in sequence, and can drive the adaptive chassis bracket 7b to rotate through the worm gear reducer 7d3.

[0054] Both the first turning joint 7d1 and the second turning joint are in a "凵" - shaped structure. The second turning joint 7d2 is connected to the connecting support 7b1. The first turning joint 7d1 is connected to one end of the walking obstacle-crossing frame main beam 7a. The first turning joint 7d1 and the second turning joint 7d2 are butted against each other. Two turning positioning pins 7d5 are穿设在 the first turning joint 7d1 and the second turning joint 7d2, and can fix the first turning joint 7d1 and the second turning joint 7d2.

[0055] It should be noted that there are some unclear parts in the original text such as "穿设在" which might need further clarification in the original Chinese text for a more accurate translation. Here I translated it as literally as possible based on the context.The lifting assembly 7c includes a crawler telescopic outer cylinder 7c1 and a crawler telescopic inner cylinder 7c2. The lower end of the crawler telescopic outer cylinder 7c1 is connected to the middle electric walking crawler 7i, and the crawler telescopic inner cylinder 7c2 is located at the upper end of the crawler telescopic outer cylinder 7c1. A screw lifting device 7c3 is provided in the lifting assembly 7c. One end of the screw lifting device 7c3 passes through the crawler telescopic inner cylinder 7c2 and the crawler telescopic outer cylinder 7c1 in sequence. The lower end of the screw lifting device 7c3 is fixed to the middle position of the crawler telescopic outer cylinder 7c1, and the other end is horizontally arranged in the main beam 7a of the walking obstacle frame. A cover plate is provided on the main beam 7a of the walking obstacle frame, which can include the screw lifting device 7c3 in the main beam 7a of the walking obstacle frame.

[0056] When the photovoltaic cleaning robot encounters an obstacle, the side electric walking track 7f at the front end touches the obstacle, and the various components of the adaptive chassis bracket 7b connected above the side electric walking track 7f are hinged and can be lifted upward. At the same time, a telescopic spring 7b6 is also provided in the adaptive chassis bracket 7b. Therefore, when the side electric walking track 7f contacts the obstacle, the adaptive chassis bracket 7b at the front end is lifted upward, and the side rotary drive motor 7h drives the side electric walking track 7f to move upward, so that it can cross the obstacle step by step, and cooperate with the lifting component 7c provided on the electric walking track 7i at the bottom of the main beam 7a of the walking obstacle crossing frame, thereby driving the adaptive high obstacle photovoltaic cleaning panel as a whole to cross the obstacle, and a shock absorber seat 7g is also provided between the adaptive chassis bracket 7b and the side electric walking track 7f, which can ensure that the front side electric walking track 7f remains stable when crossing the obstacle.

[0057] See Figure 1 A pin seat 7a1 is provided in the middle position of the main beam 7a of the walking obstacle crossing frame, and the lower end of the upright portion 1a is hinged to the main beam 7a of the walking obstacle crossing frame through the pin seat 7a1. Shock absorber seats 7a2 are provided on both sides of the pin seat 7a1, and shock absorber 8 is connected to the two shock absorber seats 7a2. The other end of the shock absorber 8 is hinged to the two ends below the upright portion 1a, thereby ensuring the stability of the gantry 1 during the walking process of the adaptive high-obstacle-crossing photovoltaic cleaning robot.

[0058] Finally, it should be noted that the above description is only a preferred embodiment of the present invention. Under the guidance of the present invention, ordinary technicians in this field can make various similar expressions without violating the purpose and claims of the present invention. Such changes fall within the scope of protection of the present invention.

Claims

1. An adaptive obstacle-crossing photovoltaic cleaning robot, comprising a gantry (1) and an adaptive cleaning assembly mounted on the gantry (1), wherein the gantry (1) comprises a transversely extending beam portion (1b) and two vertically downwardly extending upright portions (1a) arranged at both ends of the beam portion (1b), wherein the beam portion (1b) and the two upright portions (1a) together form a "door"-shaped structure, and a set of walking obstacle-crossing mechanisms (7) are mounted at the lower ends of the two upright portions (1a), and wherein: The walking obstacle-crossing mechanism (7) comprises a walking obstacle-crossing frame main beam (7a) transversely mounted at the lower end of the corresponding upright portion (1a) in the front-back direction, an adaptive chassis bracket (7b) being mounted at both ends of the walking obstacle-crossing frame main beam (7a), a crawler track angle joint assembly (7d) being arranged between the walking obstacle-crossing frame main beam (7a) and the adaptive chassis bracket (7b), and the adaptive chassis bracket (7b) being capable of rotating left and right under the drive of the crawler track angle joint assembly (7d); A middle electric walking crawler (7i) is provided at the bottom of the main beam (7a) of the walking obstacle crossing frame. The middle electric walking crawler (7i) is connected to the main beam (7a) of the walking obstacle crossing frame via two lifting assemblies (7c). The upper end of the adaptive chassis bracket (7b) is connected to the crawler angle joint assembly (7d). The lower end of the adaptive chassis bracket (7b) is provided with a side electric walking crawler (7f). The adaptive chassis bracket (7b) includes a connecting support (7b1) fixedly connected to the crawler angle joint assembly (7d) and a front support (7b1) connected to the side electric walking crawler (7f). An articulated chassis frame (7b4) is provided, wherein an upper connecting rod (7b2) is articulated between the upper portion of the connecting support (7b1) and the upper end of the chassis frame (7b4), a lower connecting rod (7b3) is articulated between the lower portion of the connecting support (7b1) and the middle portion of the chassis frame (7b4), a telescopic spring (7b6) is installed between the upper connecting rod (7b2) and the lower connecting rod (7b3), one end of the telescopic spring (7b6) is connected to the connecting support (7b1), and the other end is connected to the chassis frame (7b4), and a support rod (7b5) is articulated between the chassis frame (7b4) and the middle portion of the side electric walking crawler (7f).

2. The adaptive obstacle-crossing photovoltaic cleaning robot according to claim 1, characterized in that: The chassis frame (7b4) is composed of a straight rod (7b41) and a U-shaped fork (7b42). The straight rod (7b41) and the U-shaped fork (7b42) are integrally formed. The upper end of the straight rod (7b41) is hinged to the upper connecting rod (7b2). Mounting bases (7f1) are provided on both sides of the side electric walking track (7f). Shock absorber seats (7g) are installed on all the mounting bases (7f1). The other end of the U-shaped fork (7b42) is hinged to the upper connecting rod (7b2). The front shock absorber seat (7g1) is hinged, and support rods (7b5) are hinged at the upper arms on both sides of the U-shaped fork (7b42). The other end of the support rod (7b5) is connected to the side electric walking track (7f) through the rear shock absorber seat (7g2). The side electric walking track (7f) is located between the U-shaped fork (7b42) and the support rod (7b5). A side rotation drive motor (7h) is installed on one side inside the side electric walking track (7f).

3. The adaptive obstacle-crossing photovoltaic cleaning robot according to claim 1, characterized in that: The crawler turning joint assembly (7d) is installed between the main beam (7a) of the walking obstacle-crossing frame and the adaptive chassis bracket (7b). The crawler turning joint assembly (7d) includes a first turning joint (7d1), a second turning joint (7d2), and a worm gear reducer (7d3) disposed between the first turning joint (7d1) and the second turning joint (7d2). A drive motor (7d7) is provided on one side of the worm gear reducer (7d3) close to the main beam (7a) of the walking obstacle-crossing frame. The drive motor (7d7) extends into the main beam (7a) of the walking obstacle-crossing frame. A bent rotating shaft pin (7d6) is inserted through the crawler turning joint assembly (7d). The bent rotating shaft pin (7d6) sequentially passes through the first turning joint (7d1), the second turning joint (7d2), and the worm gear reducer (7d3), and can drive the adaptive chassis bracket (7b) to rotate through the worm gear reducer (7d3).

4. The adaptive obstacle-crossing photovoltaic cleaning robot according to claim 3, characterized in that: Both the first turning joint (7d1) and the second turning joint are in a "U" - shaped structure. The second turning joint (7d2) is connected to the connecting support (7b1). The first turning joint (7d1) is connected to one end of the main beam (7a) of the walking obstacle-crossing frame. The first turning joint (7d1) and the second turning joint (7d2) are butted against each other. Two turning positioning pins (7d5) are inserted through the first turning joint (7d1) and the second turning joint (7d2), and can fix the first turning joint (7d1) and the second turning joint (7d2).

5. The adaptive obstacle-crossing photovoltaic cleaning robot according to claim 1, characterized in that: The lifting assembly (7c) includes a crawler telescopic outer cylinder (7c1) and a crawler telescopic inner cylinder (7c2). The lower end of the crawler telescopic outer cylinder (7c1) is connected to the middle electric walking crawler (7i). The crawler telescopic inner cylinder (7c2) is located at the upper end of the crawler telescopic outer cylinder (7c1). A screw rod lifting device (7c3) is provided in the lifting assembly (7c). One end of the screw rod lifting device (7c3) sequentially passes through the crawler telescopic inner cylinder (7c2) and the crawler telescopic outer cylinder (7c1). The lower end of the screw rod lifting device (7c3) is fixed at the middle position of the crawler telescopic outer cylinder (7c1), and the other end is horizontally disposed in the main beam (7a) of the walking obstacle-crossing frame. A cover plate is provided on the main beam (7a) of the walking obstacle-crossing frame, and can contain the screw rod lifting device (7c3) within the main beam (7a) of the walking obstacle-crossing frame.

6. The adaptive obstacle-crossing photovoltaic cleaning robot according to claim 1, characterized in that: A pin seat (7a1) is provided at the middle position on the main beam (7a) of the walking obstacle-crossing frame. The lower end of the upright portion (1a) is hinged to the main beam (7a) of the walking obstacle-crossing frame through the pin seat (7a1). Shock absorber seats (7a2) are provided on both sides of the pin seat (7a1). Shock absorbers (8) are connected to both shock absorber seats (7a2). The other ends of the shock absorbers (8) are hinged to both ends below the upright portion (1a).

7. The adaptive obstacle-crossing photovoltaic cleaning robot according to claim 1, characterized in that: The adaptive cleaning assembly comprises an electric roller brush (2) and two lifting drive mechanisms (3), the two lifting drive mechanisms (3) being respectively mounted vertically on two upright portions (1a) and capable of respectively driving the corresponding telescopic rod connecting seats (4) to move upward and downward, at least one set of telescopic components (5) being mounted in the housing assembly (2a) of the electric roller brush (2), and each telescopic component (5) passing through both ends of the electric roller brush (2) along the length direction of the electric roller brush (2) and then being respectively hinged on the two telescopic rod connecting seats (4).

8. The adaptive obstacle-crossing photovoltaic cleaning robot according to claim 7, characterized in that: The telescopic assembly (5) comprises two sliding rods (5a) extending along the length direction of the housing assembly (2a), two synchronous racks (5b) extending along the length direction of the housing assembly (2a), and a follower gear (5c) capable of rotating relative to the housing assembly (2a); the two sliding rods (5a) can slide along the length direction of the housing assembly (2a); the outer ends of the two sliding rods (5a) respectively pass through the corresponding ends of the housing assembly (2a) and are hinged to the corresponding telescopic rod connecting seat (4); the inner ends of the two sliding rods (5a) are respectively fixedly connected to the corresponding synchronous racks (5b); and the follower gear (5c) is simultaneously engaged with the two synchronous racks (5b); The housing assembly (2a) comprises two end plates (2a1) relatively arranged at both ends of the roller brush (2b) and two sliding fitting profiles (2a2) relatively arranged on both sides of the roller brush (2b). The two end plates (2a1) and the two sliding fitting profiles (2a2) together constitute a roller brush mounting frame adapted to the roller brush (2b). The roller brush (2b) is rotatably mounted on the end plates (2a1). The top of the roller brush mounting frame is covered with a roller brush housing (2a3). The roller brush (2b) protrudes downward from the roller brush mounting frame. The telescopic assembly (5) is There are two sets, and the two ends of the two end plates (2a1) protrude from the corresponding sliding matching profiles (2a2) to form sliding portion outlets (2a11) for the corresponding sliding rods (5a) to pass through. Each sliding matching profile (2a2) and the corresponding two sliding portion outlets (2a11) together form a telescopic component bracket that is compatible with the corresponding telescopic component (5). The telescopic component bracket is covered with a telescopic component shell (2a4), and each sliding rod (5a) is fixedly sleeved with at least one sliding block (5e) that is slidably matched with the corresponding sliding matching profile (2a2).

9. The adaptive obstacle-crossing photovoltaic cleaning robot according to claim 8, characterized in that: A plurality of first ultrasonic distance sensors (9) are installed on the side of the telescopic component housing (2a4) away from the roller brush housing (2a3), and the detection direction of each first ultrasonic distance sensor (9) is parallel to the protruding direction of the roller brush (2b). A plurality of ultrasonic sensor brackets (10) extending forward are installed on the telescopic component housing (2a4), and a second ultrasonic distance sensor (11) whose detection direction is parallel to the protruding direction of the roller brush (2b) is installed on the outer end of each ultrasonic sensor bracket (10). Cameras (12) are installed on both the front and rear sides of the gantry (1).

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