Photovoltaic cleaning robot

Abstract

A photovoltaic cleaning robot comprises a first walking mechanism, a second walking mechanism and a supporting walking mechanism, the first walking mechanism and the second walking mechanism are arranged at the two ends of a rack respectively, the supporting walking mechanism is arranged in the middle, and a first motor of the first walking mechanism drives a first walking wheel, a barrier crossing wheel and a first brush roll shaft to rotate synchronously through a first transmission assembly; a second motor of the second walking mechanism drives a second walking wheel and a supporting walking wheel to rotate synchronously through a second transmission assembly, and the control electric box is electrically connected with the first motor and the second motor. According to the photovoltaic cleaning robot, the two sets of power systems are arranged at the two ends of the machine frame respectively, synchronism and stability of moving and cleaning of the robot are achieved, through reasonable layout and modular design, only the two sets of power systems are arranged, operation among all components is stable, the structure is clear and compact, and maintenance is easy.

Description

Technical Field

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

[0002] With the development of technology and people's emphasis on environmental protection, the development model of low-carbon circulation using clean energy such as wind power, solar energy, and biomass power generation has been favored by more and more countries in recent years, especially photovoltaic power generation (solar energy). Thanks to its advantage of generating electricity as long as there is light, the photovoltaic industry has continued to grow and become commercialized.

[0003] Large-scale photovoltaic power plants are typically located in Gobi deserts, where windblown sand easily covers the surface of photovoltaic panels. To prevent the cleanliness of the photovoltaic panel surface from affecting power generation efficiency, the panels need to be cleaned regularly. Currently, photovoltaic panel cleaning primarily involves automated cleaning robots. To ensure smooth movement across the large surface area of ​​photovoltaic panels, if a single motor drives each of the robot's moving components, the coordination between the components will be slow and inefficient due to the long or complex transmission structure. If these auxiliary moving components are equipped with corresponding drive motors, the robot would require multiple sets of drive motors, complicating the overall structure and making control and maintenance difficult. Utility Model Content

[0004] In response to the problems raised in the background technology, the purpose of the present utility model is to provide a photovoltaic cleaning robot, which solves the problem that the existing photovoltaic cleaning robots have multiple driving mechanisms and complex structures.

[0005] To achieve this purpose, the present invention adopts the following technical solutions:

[0006] A photovoltaic cleaning robot comprises a frame, a first walking mechanism, a second walking mechanism, a supporting walking mechanism, a first brush roller shaft, a second brush roller shaft, and a control electrical box, wherein the first walking mechanism and the second walking mechanism are respectively located at two ends of the frame, and the supporting walking mechanism is located between the first walking mechanism and the second walking mechanism;

[0007] The supporting walking mechanism includes a supporting frame and supporting walking wheels, the supporting frame is connected to the frame, and the supporting walking wheels are rotatably mounted on the supporting frame;

[0008] The first walking mechanism includes a first housing, a first transmission assembly, a first walking wheel, a first motor and an obstacle-crossing wheel, the first housing is connected to the frame, the rotating shafts of the first walking wheel and the obstacle-crossing wheel are perpendicular to each other, the first brush roller shaft is provided between the support frame and the first housing, and the first motor drives the first walking wheel, the obstacle-crossing wheel and the first brush roller shaft to rotate synchronously through the first transmission assembly;

[0009] The second walking mechanism includes a second housing, a second transmission assembly, a second walking wheel and a second motor, the second housing is connected to the frame, a second transmission shaft is provided between the second housing and the supporting walking wheel, and the second motor drives the second walking wheel and the second transmission shaft to rotate through the second transmission assembly;

[0010] The second brush roller shaft is provided between the second shell and the support frame, and the second brush roller shaft is connected to the first brush roller shaft;

[0011] The control electrical box is electrically connected to the first motor and the second motor.

[0012] Preferably, the first traveling mechanism and the second traveling mechanism are both provided with anti-falling parts;

[0013] The anti-falling component includes a horizontal portion and a vertical portion, wherein the horizontal portion is connected to the bottom of the vertical portion;

[0014] The top of the vertical portion of one anti-falling component is installed on the bottom of the first shell, and the top of the vertical portion of the other anti-falling component is installed on the bottom of the second shell; the horizontal portions of the two anti-falling components are extended toward each other.

[0015] Preferably, the second walking mechanism further includes a plurality of guide wheels, which are rotatably mounted on the bottom of the second shell, and the plurality of guide wheels are disposed on both sides of the anti-falling component.

[0016] Preferably, the first transmission assembly includes a first driving gear, a reduction gear, a brush roller gear, a second driving gear, an intermediate gear, a travel transmission gear, an active bevel gear and a barrier-crossing transmission bevel gear;

[0017] The output end of the first motor is connected to the first driving gear, and the first driving gear is meshed and connected to the brush roller gear through the reduction gear. The brush roller gear is provided at one end of the first brush roller shaft, and the brush roller gear drives the first brush roller shaft to rotate;

[0018] The second driving gear and the reduction gear are coaxially arranged through the first shaft, the travel transmission gear is meshed and connected to the second driving gear through the intermediate gear, and the travel transmission gear, the active bevel gear and the first travel wheel are coaxially arranged through the first transmission shaft;

[0019] The active bevel gear is meshed and connected to the barrier-crossing transmission bevel gear, and the barrier-crossing transmission bevel gear and the barrier-crossing wheel are coaxially arranged via a second shaft;

[0020] The first shaft and the first transmission shaft are parallel to each other, and the first shaft and the second shaft are perpendicular to each other.

[0021] Preferably, the first housing includes a first shell and a first cover;

[0022] The first motor and the first traveling wheel are arranged on one side of the first housing opposite to the second traveling mechanism, the first transmission assembly is arranged on the other side of the first housing, and the first cover covers the first transmission assembly.

[0023] Preferably, the second transmission assembly includes a first driving gear, a reduction gear, a second driving gear, an intermediate gear and a travel transmission gear;

[0024] The output end of the second motor is connected to the first drive gear, the first drive gear is meshed and connected to the reduction gear, the second drive gear and the reduction gear are coaxially arranged through the first shaft, the travel transmission gear is meshed and connected to the second drive gear through the intermediate gear, and the travel transmission gear, the active bevel gear and the second travel wheel are coaxially arranged through the second transmission shaft;

[0025] The first shaft and the second transmission shaft are parallel to each other.

[0026] Preferably, the second housing includes a second shell and a second cover;

[0027] The second motor and the second traveling wheel are arranged on one side of the second housing opposite to the first traveling mechanism, the second transmission assembly is arranged on the other side of the second housing, and the second cover covers the second transmission assembly.

[0028] Preferably, a plurality of casings are provided on the top of the rack, and air guide holes are provided on the tops of the casings.

[0029] Preferably, travel sensors are respectively provided at both ends of the frame, and the travel sensors are electrically connected to the control electrical box.

[0030] Preferably, the control electrical box includes a photovoltaic panel, a battery and a control unit;

[0031] The control unit controls the operation of the first motor, the second motor, and the stroke sensor;

[0032] The battery provides power to the control unit, the first motor, the second motor, and the travel sensor.

[0033] Compared with the prior art, one of the above technical solutions has the following beneficial effects:

[0034] This photovoltaic cleaning robot features two power systems at either end of its frame. A first motor and a first transmission assembly drive the first travel wheel, obstacle-crossing wheel, and first brush roller. A second motor and a second transmission assembly drive the second travel wheel and supporting travel wheel, achieving synchronized and stable robot movement and cleaning. Through a rational layout and modular design, this robot utilizes only two power systems, ensuring stable operation between components, a clean and compact structure, and ease of maintenance. BRIEF DESCRIPTION OF THE DRAWINGS

[0035] Figure 1 It is a structural diagram of an embodiment of the utility model;

[0036] Figure 2 This is a structural diagram of another perspective of an embodiment of the utility model;

[0037] Figure 3 This is a schematic structural diagram of the first walking mechanism of the utility model;

[0038] Figure 4 This is another structural diagram of the first walking mechanism of the utility model;

[0039] Figure 5 yes Figure 2 Schematic diagram of the first walking mechanism from the perspective;

[0040] Figure 6 It is a structural diagram of the second walking mechanism of the utility model;

[0041] Figure 7 yes Figure 2 Schematic diagram of the second walking mechanism from the perspective;

[0042] Figure 8 This is a structural diagram of the supporting walking mechanism of the utility model;

[0043] Figure 9 is a schematic diagram of the first transmission assembly of the present utility model;

[0044] Figure 10 It is a schematic diagram of the second transmission assembly of the present utility model.

[0045] Among them: the first walking mechanism 1, the first shell 11, the first shell 111, the first cover 112, the first transmission assembly 12, the first walking wheel 13, the first motor 14, the obstacle-crossing wheel 15, the first transmission shaft 16, the second walking mechanism 2, the second shell 21, the second shell 211, the second cover 212, the second transmission assembly 22, the second walking wheel 23, the second motor 24, the guide wheel 25, the second transmission shaft 26, the supporting walking mechanism 3, the supporting frame 31, the supporting walking wheel 32, the first brush roller shaft 4, the second brush roller shaft 5, the control electrical box 6, the anti-falling part 7, the horizontal part 71, the vertical part 72, the casing 8, the air guide hole 81, the first driving gear 01, the reduction gear 02, the brush roller gear 03, the second driving gear 04, the intermediate wheel 05, the walking transmission gear 06, the active bevel gear 07, and the obstacle-crossing transmission bevel gear 08. DETAILED DESCRIPTION

[0046] The following describes embodiments of the present invention in detail. Examples of the embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are intended only to explain the present invention and are not to be construed as limiting the present invention.

[0047] In the description of the present invention, it should be understood that the terms "upper", "lower", "front", "back", "left", "right", "top", "bottom", "inside", "outside", etc., indicating directions or positional relationships, are based on the directions or positional relationships shown in the accompanying drawings. They are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific direction, be constructed and operated in a specific direction. Therefore, they cannot be understood as limitations on the present invention.

[0048] Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and should not be understood to indicate or imply relative importance or to implicitly specify the quantity of the technical features being referred to. Thus, a feature identified as "first," "second," and "third" may explicitly or implicitly include one or more of the features.

[0049] It should be noted that, unless otherwise expressly specified or limited, the terms "mounted," "connected," and "connected" should be understood broadly. For example, they may refer to fixed, detachable, or integral connections; mechanical or electrical connections; direct or indirect connections through an intermediary; and internal communication between two components. Those skilled in the art will understand the specific meanings of these terms in this utility model based on the specific circumstances.

[0050] The following is combined with Figures 1 to 10The technical solution of the utility model is further illustrated through specific implementation methods.

[0051] A photovoltaic cleaning robot includes a frame, a first walking mechanism 1, a second walking mechanism 2, a supporting walking mechanism 3, a first brush roller shaft 4, a second brush roller shaft 5, and a control electrical box 6. The first walking mechanism 1 and the second walking mechanism 2 are respectively located at two ends of the frame, and the supporting walking mechanism 3 is located between the first walking mechanism 1 and the second walking mechanism 2.

[0052] The supporting walking mechanism 3 includes a supporting frame 31 and supporting walking wheels 32, the supporting frame 31 is connected to the frame, and the supporting walking wheels 32 are rotatably mounted on the supporting frame 31;

[0053] The first walking mechanism 1 includes a first housing 11, a first transmission assembly 12, a first walking wheel 13, a first motor 14 and an obstacle-crossing wheel 15. The first housing 11 is connected to the frame. The rotating axes of the first walking wheel 13 and the obstacle-crossing wheel 15 are perpendicular to each other. The first brush roller shaft 4 is provided between the support frame 31 and the first housing 11. The first motor 14 drives the first walking wheel 13, the obstacle-crossing wheel 15 and the first brush roller shaft 4 to rotate synchronously through the first transmission assembly 12.

[0054] The second walking mechanism 2 includes a second housing 21, a second transmission assembly 22, a second walking wheel 23 and a second motor 24. The second housing 21 is connected to the frame. A second transmission shaft 26 is provided between the second housing 21 and the supporting walking wheel 32. The second motor 24 drives the second walking wheel 23 and the second transmission shaft 26 to rotate through the second transmission assembly 22.

[0055] The second brush roller shaft 5 is provided between the second housing 21 and the support frame 31 , and the second brush roller shaft 5 is connected to the first brush roller shaft 4 ;

[0056] The control electrical box 6 is electrically connected to the first motor 14 and the second motor 24 .

[0057] The utility model is provided with a first motor 14 and a second motor 24 at the first walking mechanism 1 and the second walking mechanism 2 at both ends of the frame respectively; the first motor 14 drives the first walking wheel 13 to rotate through the first transmission assembly 12, and synchronously drives the first brush roller 4 between the first housing 11 and the support frame 31 to rotate, the end of the first brush roller 4 close to the support frame 31 is connected to the end of the second brush roller 5 close to the support frame 31, and the second brush roller 5 rotates with the rotation of the first brush roller 4; the second motor 24 drives the second walking wheel 23 to rotate through the second transmission assembly 22, so that the movement and cleaning of the two ends of the photovoltaic cleaning robot on the surface of the photovoltaic panel are more stable and more synchronous. It is worth noting that the first brush roller 4 and the second brush roller 5 are structures with brushes installed outside the rollers.

[0058] In addition to driving the first walking wheel 13 and the first brush roller shaft 4 to rotate, the first motor 14 and the first transmission assembly 12 also synchronously drive the obstacle-crossing wheel 15 to rotate, so as to cross obstacles such as the misalignment of the photovoltaic panel frame and the steep slope of the string transition bridge, thereby improving the photovoltaic robot's ability to cross obstacles and ensuring smooth and stable operation of the photovoltaic robot.

[0059] In addition to driving the second travel wheels 23, the second motor 24 and second transmission assembly 22 also drive the support travel wheels 32 via the second transmission shaft 26, providing power for the movement of the support assembly 3 located in the middle of the frame. This further improves the overall synchronization and stability of the PV cleaning robot during operation. The design of the support assembly 3 is intended to effectively prevent the PV cleaning robot from placing additional load on the photovoltaic panels during movement through the stability and strength of the support frame 31 and support travel wheels 32, ensuring that the robot can operate smoothly and maintain contact with the photovoltaic panels, thereby improving cleaning efficiency and performance.

[0060] The photovoltaic cleaning robot of the present utility model is suitable for cleaning the surfaces of photovoltaic panels with large areas. Because the robot straddles the photovoltaic panels, its size is relatively large. To ensure smoother overall movement of the robot, two power systems are provided at each end of the frame. A first motor 14 and a first transmission assembly 12 drive the first travel wheel 13, the obstacle-crossing wheel 15, and the first brush roller shaft 4. A second motor 24 and a second transmission assembly 22 drive the second travel wheel 23 and the supporting travel wheel 32, thereby achieving synchronization and stability in the robot's movement and cleaning. Through a rational layout and modular design, the utility model only has two power systems, which ensures stable operation between the various components, a simple and compact structure, and ease of maintenance.

[0061] Furthermore, the first traveling mechanism 1 and the second traveling mechanism 2 are both provided with anti-falling parts 7;

[0062] The anti-falling member 7 includes a horizontal portion 71 and a vertical portion 72, wherein the horizontal portion 71 is connected to the bottom of the vertical portion 72;

[0063] The top of the vertical portion 72 of one anti-falling component is installed on the bottom of the first shell 11, and the top of the vertical portion 72 of the other anti-falling component is installed on the bottom of the second shell 21; the horizontal portions 71 of the two anti-falling components are extended toward each other.

[0064] The first walking mechanism 1 and the second walking mechanism 2 are both provided with anti-falling parts 7 at the bottom, so that the photovoltaic cleaning robot can obtain better stability during walking. Specifically, the anti-falling part 7 includes a horizontal part 71 and a vertical part 72, which are "L"-shaped. The top of the vertical part 72 is connected to the first shell 11 / the second shell 21, and the horizontal part 71 is located at the bottom of the vertical part 72. The horizontal parts 71 of the anti-falling parts 7 at both ends of the frame extend toward each other, and the horizontal part 71 is located at the bottom of the photovoltaic panel and does not contact the lower surface of the photovoltaic panel. Through the reliability and stability of the anti-falling component 7, the risk of accidental falling of the photovoltaic cleaning robot is effectively reduced, and the safe operation of the photovoltaic cleaning robot in various adverse weather conditions is guaranteed, while protecting the integrity and performance of the photovoltaic panel.

[0065] Furthermore, the second walking mechanism 2 further includes a plurality of guide wheels 25 , which are rotatably mounted on the bottom of the second housing 21 , and the plurality of guide wheels 25 are disposed on both sides of the anti-falling component 7 .

[0066] Guide wheels 25 are mounted on the bottom of the second housing 21 and on either side of the anti-fall member 7. This arrangement provides the robot with additional support points and guidance. During movement, the guide wheels 25 help adjust the robot's posture, maintaining balance and stability. This reduces shaking and deviation caused by uneven, tilted, or misaligned photovoltaic panels, thereby ensuring smooth cleaning operations.

[0067] The guide wheel 25 can flexibly adjust the contact with the photovoltaic panel frame, provide the necessary support and guiding force for the robot, and enhance its adaptability.

[0068] Furthermore, the first transmission assembly 12 includes a first driving gear 01, a reduction gear 02, a brush roller gear 03, a second driving gear 04, an intermediate gear 05, a travel transmission gear 06, an active bevel gear 07 and a barrier-crossing transmission bevel gear 08;

[0069] The output end of the first motor 14 is connected to the first driving gear 01, and the first driving gear 01 is meshed and connected to the brush roller gear 03 through the reduction gear 02. The brush roller gear 03 is provided at one end of the first brush roller shaft 4, and the brush roller gear 03 drives the first brush roller shaft 4 to rotate;

[0070] The second driving gear 04 is coaxially arranged with the reduction gear 02 via a first shaft, the travel transmission gear 06 is meshed and connected to the second driving gear 04 via the intermediate gear 05, and the travel transmission gear 06, the active bevel gear 07 and the first travel wheel 13 are coaxially arranged via a first transmission shaft 16;

[0071] The active bevel gear 07 is meshed and connected with the barrier-crossing transmission bevel gear 08, and the barrier-crossing transmission bevel gear 08 is coaxially arranged with the barrier-crossing wheel 15 via a second shaft;

[0072] The first shaft and the first transmission shaft 16 are parallel to each other, and the first shaft and the second shaft are perpendicular to each other.

[0073] like Figure 9 and Figure 10 As shown, the output end of the first motor 14 is connected to the first drive gear 01, and the first drive gear 01 is meshed and connected to the brush roller gear 03 through the reduction gear 02, and the brush roller gear 03 drives the first brush roller shaft 4 to rotate to achieve cleaning; the second drive gear 04 is coaxially connected to the reduction gear 02 through the first shaft, and the speed of the reduction gear 02 is the same as that of the second drive gear 04. The second drive gear 04 is meshed and connected to the travel transmission gear 06 through the intermediate gear 05, and the travel transmission gear 06 drives the first travel wheel 13 to rotate to achieve the travel of the first travel wheel 13.

[0074] The teeth of the active bevel gear 07 and the obstacle-crossing transmission bevel gear 08 are meshed vertically with each other, realizing the transformation of the power transmission direction from the horizontal axial direction to the vertical diameter direction, so that the obstacle-crossing wheel 15 of the utility model has the power to rotate, that is, the obstacle-crossing wheel 15 has the power to cross obstacles such as misalignment during the side walking of the photovoltaic panel frame. Its cooperation with the first walking wheel 13 can enable the photovoltaic panel cleaning robot to have better movement efficiency and obstacle-crossing ability, improve the photovoltaic robot's obstacle-crossing ability, and ensure that the photovoltaic robot runs smoothly and stably.

[0075] It is worth noting that the power output by the first motor 14 is transmitted to the brush roller gear 03 via the first drive gear 01 and the reduction gear 02. The rotation direction of the brush roller gear 03 is the same as that of the first drive gear 01. The second drive gear 04 is connected to the reduction gear 02 via the first shaft. After the travel transmission gear 06 is meshed and transmitted via the intermediate gear 05, the rotation direction of the travel transmission gear 06 is the same as that of the second drive gear 04. Since the transmission direction of the second drive gear 04 is opposite to that of the first drive gear 01, the rotation direction of the first travel wheel 13 is opposite to that of the first brush roller shaft 4, which makes the present invention have a better cleaning effect. In addition, by arranging the bevel gear on the outside of the transmission gear of the first transmission assembly 12, not only the meshing efficiency between the gears is optimized, but also the volume of the first transmission assembly 12 is reduced, making the photovoltaic cleaning robot more compact as a whole and improving its flexibility and efficiency in operating in narrow spaces.

[0076] Furthermore, the first housing 11 includes a first shell 111 and a first cover 112;

[0077] The first motor 14 and the first traveling wheel 13 are arranged on one side of the first housing 111 opposite to the second traveling mechanism 2 , the first transmission assembly 12 is arranged on the other side of the first housing 111 , and the first cover 112 covers the first transmission assembly 12 .

[0078] The first motor 14 and the first walking wheel 13 are arranged on the side of the first shell 111 close to the second walking mechanism 2, which is equivalent to the power motor and the walking wheel being arranged inside rather than outside the photovoltaic cleaning robot, thereby avoiding the influence of external unstable factors on the power motor.

[0079] The first transmission assembly 12 is located on the other side of the first housing 111, and is separated from the first motor 14 on either side of the first housing 111, thereby further stabilizing the internal power transmission system structure of the first traveling mechanism 1. A first cover 112, located on the other side of the first housing 111, covers the first transmission assembly 12 and protects its transmission components, effectively preventing the intrusion of dust, moisture, and other external impurities. This ensures the cleanliness of the first transmission assembly 12 and ensures stable operation.

[0080] Preferably, there are two first transmission shafts 16, and the two first transmission shafts 16 are located on both sides of the first brush roller shaft 4; there are two intermediate wheels 05 and travel transmission gears 06, and one intermediate wheel 05 and one travel transmission gear 06 are meshed with each other and are connected to both sides of the second drive gear 04, and the two travel transmission gears 06 are respectively assembled on the same end of the two first transmission shafts 16, and each travel transmission gear 06 drives the corresponding first transmission shaft 16 to rotate to realize the movement of the two first travel wheels 13; there are also two active bevel gears 07, obstacle-crossing transmission bevel gears 08 and obstacle-crossing wheels 15, and one active bevel gear 07 and one obstacle-crossing transmission bevel gear 08 are meshed with each other and are connected to the obstacle-crossing wheel 15. By cooperating with the two first transmission shafts 16, and the two first transmission shafts 16 are respectively arranged on both sides of the first brush roller shaft 4, the stability of the first travel mechanism 1 and the first brush roller shaft 4 during cleaning and walking can be increased.

[0081] Furthermore, the second transmission assembly 22 includes a first driving gear 01, a reduction gear 02, a second driving gear 04, an intermediate gear 05 and a travel transmission gear 06;

[0082] The output end of the second motor 24 is connected to the first driving gear 01, the first driving gear 01 is meshed and connected to the reduction gear 02, the second driving gear 04 is coaxially arranged with the reduction gear 02 through the first shaft, the travel transmission gear 06 is meshed and connected to the second driving gear 04 through the intermediate gear 05, and the travel transmission gear 06, the active bevel gear 07 and the second travel wheel 23 are coaxially arranged through the second transmission shaft 26;

[0083] The first shaft and the second transmission shaft 26 are parallel to each other.

[0084] like Figure 10 As shown, the output end of the second motor 24 is connected to the first drive gear 01, the first drive gear 01 is meshed and connected to the reduction gear 02, the second drive gear 04 is coaxially connected to the reduction gear 02 through the first shaft, the speed of the reduction gear 02 is the same as that of the second drive gear 04, the second drive gear 04 is meshed and connected to the travel transmission gear 06 through the intermediate gear 05, and the travel transmission gear 06 drives the second travel wheel 23 to rotate to realize the travel of the second travel wheel 23.

[0085] It is worth noting that, since the second transmission shaft 26 is coaxially arranged with the second traveling wheel 23, in the schematic diagram of the second traveling mechanism ( Figure 6 ) does not specifically show the rotating shaft of the second traveling wheel 23.

[0086] Furthermore, the second housing 21 includes a second shell 211 and a second cover 212;

[0087] The second motor 24 and the second traveling wheel 23 are arranged on one side of the second housing 211 opposite to the first traveling mechanism 1 , the second transmission assembly 22 is arranged on the other side of the second housing 211 , and the second cover 212 covers the second transmission assembly 22 .

[0088] The second motor 24 and the second walking wheel 23 are arranged on the side of the second shell 211 close to the first walking mechanism 1, which is equivalent to the power motor and the walking wheel being arranged inside rather than outside the photovoltaic cleaning robot, thereby avoiding the influence of external unstable factors on the power motor.

[0089] The second transmission assembly 22 is located on the other side of the second housing 211, and is separated from the second motor 24 on either side of the second housing 211, thereby further stabilizing the internal power transmission system structure of the second traveling mechanism 2. A second cover 212, covering the second transmission assembly 22 and located on the other side of the second housing 211, protects the transmission components of the second transmission assembly 22, effectively preventing the intrusion of dust, moisture, and other external impurities, ensuring the cleanliness of the second transmission assembly 22 and ensuring stable operation.

[0090] Preferably, there are two second transmission shafts 26, and the two second transmission shafts 26 are located on both sides of the second brush roller shaft 5; wherein, there are two intermediate wheels 05 and travel transmission gears 06, one intermediate wheel 05 and the travel transmission gear 06 are meshed and connected to both sides of the second drive gear 04, and the two travel transmission gears 06 are respectively assembled on the same end of the two second transmission shafts 26, and the other ends of the two second transmission shafts 26 are connected to the two supporting travel wheels 32, and each travel transmission gear 06 drives the corresponding second transmission shaft 26 to realize the movement of the second travel wheel 23 and the supporting travel wheel 32; through the cooperation of the two second transmission shafts 26, and the two second transmission shafts 26 are respectively arranged on both sides of the second brush roller shaft 5, the stability of the second walking mechanism 2 and the supporting walking mechanism 3 during walking can be increased, and the rotation cleaning of the second brush roller shaft 5 is more stable and efficient.

[0091] Furthermore, the integrated casting process of the first and second housings 11 and 21 enhances the stability and durability of the housing structure, maintaining excellent performance in a variety of environmental conditions and effectively extending the product's service life. This integrated casting process optimizes the housing structure, reduces unnecessary material usage, and makes the robot lighter overall, improving its maneuverability and energy efficiency.

[0092] Furthermore, a plurality of housings 8 are provided on the top of the frame, and the housings 8 are used to protect the first walking mechanism 1, the second walking mechanism 2, the supporting walking mechanism 3, the first brush roller shaft 4, the second brush roller shaft 5, the first transmission shaft 16, the second transmission shaft 26 and the control electric box 6 on the frame;

[0093] The top of the housing 8 is provided with an air guide hole 81 .

[0094] The housing 8 is arranged side by side on the top of the frame to protect the components and control devices inside the frame. In addition, the housing 8 is provided with air guide holes 81 for evacuating air. The air guide holes 81 can guide air to flow through the body of the cleaning robot in a directional manner, thereby stabilizing the body and preventing the body from being deflected by wind.

[0095] Furthermore, travel sensors are respectively provided at both ends of the frame, and the travel sensors are electrically connected to the control electrical box 6 .

[0096] The utility model is equipped with two travel sensors, which are installed at both ends of the photovoltaic cleaning robot frame. The travel sensors can monitor the position information of the photovoltaic cleaning robot on the photovoltaic panel in real time, ensuring that the photovoltaic cleaning robot can move accurately and stably during the cleaning process. By connecting with the control box 6, the photovoltaic cleaning robot can make precise position adjustments based on the feedback signal of the sensor, thereby improving the accuracy and efficiency of the cleaning operation. When the photovoltaic cleaning robot approaches the edge of the photovoltaic panel or encounters other obstacles, the travel sensor will promptly send a signal to the control box 6, and the control box 6 will take corresponding measures (such as slowing down, stopping or turning) according to the signal to avoid dangerous situations such as collision or falling of the photovoltaic cleaning robot, thereby ensuring the safety of the cleaning operation. Through real-time monitoring and feedback from the travel sensor, the photovoltaic cleaning robot can intelligently plan the cleaning path and automatically adjust the cleaning route and speed according to the actual layout of the photovoltaic panel and cleaning needs to achieve the best cleaning effect. This can not only improve cleaning efficiency, but also reduce unnecessary energy consumption and wear.

[0097] Furthermore, the control electrical box 6 includes a photovoltaic panel, a battery and a control unit;

[0098] The control unit is used to control the first motor 14, the second motor 24 and the stroke sensor;

[0099] The battery provides power to the control unit, the first motor 14 , the second motor 24 , and the travel sensor.

[0100] The photovoltaic panels integrated into the control box directly convert solar energy into electricity, providing the robot with the power it needs to operate. This self-sufficient design reduces reliance on external power sources, allowing the robot to operate continuously in well-lit environments, improving the continuity and autonomy of its cleaning operations.

[0101] As an energy storage element, batteries can provide stable power to key components such as the control unit, motor, and travel sensor when direct power from photovoltaic panels is unavailable, such as during periods of low sunlight or at night. Furthermore, an intelligent energy management system can manage battery charge and discharge, ensuring a reliable and economical power supply.

[0102] The control unit, the core of the entire system, is responsible for precisely controlling components such as the first motor 14, the second motor 24, and the travel sensor. Through its integrated design, the control unit responds more quickly and accurately to various operating instructions and sensor signals, thereby improving system stability and reliability.

[0103] By precisely controlling components such as motors and travel sensors, the robot can perform cleaning tasks more accurately. This not only improves cleaning efficiency but also reduces energy consumption and wear, extending the robot's service life.

[0104] The technical principles of the present invention have been described above with reference to specific embodiments. These descriptions are intended solely to illustrate the principles of the present invention and should not be construed in any way as limiting the scope of protection of the present invention. Based on the explanations herein, those skilled in the art will be able to devise other specific implementations of the present invention without inventive effort, and such implementations will fall within the scope of protection of the present invention.

Claims

1. A photovoltaic cleaning robot, characterized by: The invention comprises a frame, a first walking mechanism (1), a second walking mechanism (2), a supporting walking mechanism (3), a first brush roller shaft (4), a second brush roller shaft (5) and a control electric box (6); the first walking mechanism (1) and the second walking mechanism (2) are respectively located at two ends of the frame; the supporting walking mechanism (3) is located between the first walking mechanism (1) and the second walking mechanism (2); The supporting walking mechanism (3) comprises a supporting frame (31) and supporting walking wheels (32), wherein the supporting frame (31) is connected to the machine frame, and the supporting walking wheels (32) are rotatably mounted on the supporting frame (31); The first walking mechanism (1) comprises a first housing (11), a first transmission assembly (12), a first walking wheel (13), a first motor (14) and an obstacle-crossing wheel (15); the first housing (11) is connected to the frame; the rotating shafts of the first walking wheel (13) and the obstacle-crossing wheel (15) are perpendicular to each other; the first brush roller shaft (4) is provided between the support frame (31) and the first housing (11); the first motor (14) drives the first walking wheel (13), the obstacle-crossing wheel (15) and the first brush roller shaft (4) to rotate synchronously through the first transmission assembly (12); The second walking mechanism (2) comprises a second housing (21), a second transmission assembly (22), a second walking wheel (23) and a second motor (24); the second housing (21) is connected to the frame; a second transmission shaft (26) is provided between the second housing (21) and the supporting walking wheel (32); the second motor (24) drives the second walking wheel (23) and the second transmission shaft (26) to rotate through the second transmission assembly (22); The second brush roller shaft (5) is provided between the second housing (21) and the support frame (31), and the second brush roller shaft (5) is connected to the first brush roller shaft (4); The control electric box (6) is electrically connected to the first motor (14) and the second motor (24).

2. A photovoltaic cleaning robot according to claim 1, characterized in that: The first walking mechanism (1) and the second walking mechanism (2) are both provided with anti-falling parts (7); The anti-falling component (7) comprises a horizontal portion (71) and a vertical portion (72), wherein the horizontal portion (71) is connected to the bottom of the vertical portion (72); The top of the vertical portion (72) of one anti-falling piece is mounted on the bottom of the first shell (11), and the top of the vertical portion (72) of the other anti-falling piece is mounted on the bottom of the second shell (21); the horizontal portions (71) of the two anti-falling pieces are arranged to extend toward each other.

3. The photovoltaic cleaning robot according to claim 2, characterized in that: The second walking mechanism (2) further comprises a plurality of guide wheels (25), the guide wheels (25) being rotatably mounted on the bottom of the second housing (21), and the plurality of guide wheels (25) being arranged on both sides of the anti-falling component (7).

4. A photovoltaic cleaning robot according to any one of claims 1 to 3, characterized in that: The first transmission assembly (12) comprises a first driving gear (01), a reduction gear (02), a brush roller gear (03), a second driving gear (04), an intermediate gear (05), a travel transmission gear (06), an active bevel gear (07) and a barrier-crossing transmission bevel gear (08); The output end of the first motor (14) is connected to the first driving gear (01), the first driving gear (01) is meshed and connected to the brush roller gear (03) via the reduction gear (02), the brush roller gear (03) is arranged at one end of the first brush roller shaft (4), and the brush roller gear (03) drives the first brush roller shaft (4) to rotate; The second driving gear (04) and the reduction gear (02) are coaxially arranged via a first shaft, the travel transmission gear (06) is meshed and transmission-connected with the second driving gear (04) via the intermediate wheel (05), and the travel transmission gear (06), the active bevel gear (07) and the first travel wheel (13) are coaxially arranged via a first transmission shaft (16); The active bevel gear (07) is meshed and connected to the barrier-crossing transmission bevel gear (08), and the barrier-crossing transmission bevel gear (08) and the barrier-crossing wheel (15) are coaxially arranged via a second shaft; The first shaft and the first transmission shaft (16) are parallel to each other, and the first shaft and the second shaft are perpendicular to each other.

5. The photovoltaic cleaning robot according to claim 4, characterized in that: The first housing (11) comprises a first shell (111) and a first cover (112); The first motor (14) and the first walking wheel (13) are arranged on one side of the first housing (111) opposite to the second walking mechanism (2), the first transmission assembly (12) is arranged on the other side of the first housing (111), and the first cover (112) covers the first transmission assembly (12).

6. The photovoltaic cleaning robot according to claim 4, characterized in that: The second transmission assembly (22) includes a first driving gear (01), a reduction gear (02), a second driving gear (04), an intermediate gear (05) and a travel transmission gear (06); The output end of the second motor (24) is connected to the first driving gear (01), the first driving gear (01) is meshed and connected to the reduction gear (02), the second driving gear (04) and the reduction gear (02) are coaxially arranged through a first shaft, the travel transmission gear (06) is meshed and connected to the second driving gear (04) through the intermediate wheel (05), and the travel transmission gear (06), the active bevel gear (07) and the second travel wheel (23) are coaxially arranged through the second transmission shaft (26); The first shaft and the second transmission shaft (26) are parallel to each other.

7. The photovoltaic cleaning robot according to claim 6, characterized in that: The second housing (21) comprises a second shell (211) and a second cover (212); The second motor (24) and the second walking wheel (23) are arranged on one side of the second housing (211) opposite to the first walking mechanism (1), the second transmission assembly (22) is arranged on the other side of the second housing (211), and the second cover (212) covers the second transmission assembly (22).

8. A photovoltaic cleaning robot according to any one of claims 5 or 7, characterized in that: A plurality of housings (8) are provided on the top of the frame, and air guide holes (81) are provided on the top of the housings (8).

9. The photovoltaic cleaning robot according to claim 8, characterized in that: Stroke sensors are respectively provided at both ends of the frame, and the stroke sensors are electrically connected to the control electric box (6).

10. The photovoltaic cleaning robot according to claim 9, characterized in that: The control electric box (6) includes a photovoltaic panel, a battery and a control unit; The control unit controls the operation of the first motor (14), the second motor (24) and the stroke sensor; The battery provides power to the control unit, the first motor (14), the second motor (24) and the travel sensor.

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