Photovoltaic cleaning robot

Abstract

The utility model discloses a photovoltaic cleaning robot which comprises a body, a first walking device, a second walking device, a brush device and an obstacle crossing device. The first walking device is arranged at one end of the body in the length direction. The second walking device is arranged at the other end of the body in the length direction. The brush device comprises two brush parts, a transmission assembly and a first motor, the two brush parts are arranged at the bottom of the body in parallel at an interval, the same ends of the two brush parts are rotationally connected with the first walking device and the second walking device respectively, the transmission assembly is arranged in the second walking device, the two brush parts are connected with the transmission assembly respectively, and the first motor is connected with the transmission assembly. The driving end of the first motor is connected with the transmission assembly. The at least two obstacle crossing devices are fixedly arranged on the sides of the first walking device and the second walking device in the advancing direction of the body. Through the arrangement, the photovoltaic cleaning robot can cross gaps between photovoltaic modules, and the cost is reduced.

Description

TECHNICAL FIELD

[0001] The utility model relates to photovoltaic field especially relates to a photovoltaic cleaning robot. BACKGROUND

[0002] At present, photovoltaic cleaning robots are all walking on the surface of the assembly of photovoltaic supports when working, and if they want to work across the supports, they all need to install a bridge between adjacent photovoltaic supports, which is very difficult for the installation of a bridge between supports with short spacing, not only needs to adapt to the angle difference and height difference of north-south and east-west directions, but also needs manual installation, because the photovoltaic supports are relatively high, there is a certain safety risk in installation, and the installation cost is relatively high. Furthermore, the existing photovoltaic cleaning robots use only one power motor to drive the walking device and the brush piece rotation at the same time. However, using only one high-power motor will inevitably increase the number of transmission parts, affect the transmission efficiency, and thus affect the cleaning effect of the photovoltaic cleaning robot.

[0003] Therefore, it is necessary to provide a photovoltaic cleaning robot to solve the above problems. SUMMARY

[0004] The utility model discloses a photovoltaic cleaning robot, which can automatically cross the photovoltaic assembly with short spacing, thereby reducing the labor cost and maintenance cost, and improving the cleaning effect.

[0005] To achieve the above-mentioned purpose, the utility model adopts the following technical scheme:

[0006] A photovoltaic cleaning robot is used for cleaning a plurality of spaced photovoltaic assemblies, and has a gap between adjacent photovoltaic assemblies, comprising:

[0007] A body;

[0008] A first walking device is arranged at one end of the length direction of the body, and the first walking device drives the body to move along the arrangement direction of the plurality of photovoltaic assemblies;

[0009] A second walking device is arranged at the other end of the length direction of the body, and the second walking device drives the body to move along the arrangement direction of the plurality of photovoltaic assemblies;

[0010] A brush device comprises two brush pieces, a transmission assembly and a first motor, the two brush pieces are arranged at the bottom of the body in a spaced and parallel manner, the same end of the two brush pieces is rotationally connected with the first walking device and the second walking device respectively, the transmission assembly is arranged in the second walking device, the two brush pieces are connected with the transmission assembly respectively, and the driving end of the first motor is connected with the transmission assembly;

[0011] The obstacle-surmounting device is arranged on the side of the first walking device and the second walking device along the moving direction of the photovoltaic cleaning robot.

[0012] When the photovoltaic cleaning robot moves from one photovoltaic module to another, the free end of the obstacle-surmounting device first contacts the other photovoltaic module to support the movement of the photovoltaic cleaning robot to cross the gap between the adjacent photovoltaic modules.

[0013] Further, the obstacle-surmounting device comprises two first obstacle-surmounting components and two second obstacle-surmounting components, the two first obstacle-surmounting components are symmetrically arranged on the two sides of the first walking device, and the two second obstacle-surmounting components are symmetrically arranged on the two sides of the second walking device.

[0014] Further, the first obstacle-surmounting component comprises a first support seat, a first rotating shaft and a first obstacle-surmounting wheel, one end of the first support seat is arranged on the first walking device, the first rotating shaft is arranged through the other end of the first support seat, and the first obstacle-surmounting wheel is rotationally arranged on the rotating shaft.

[0015] The second obstacle-surmounting component comprises a second support seat, a second rotating shaft and a second obstacle-surmounting wheel, one end of the second support seat is arranged on the second walking device, the second rotating shaft is arranged through the other end of the second support seat, and the second obstacle-surmounting wheel is rotationally arranged on the rotating shaft.

[0016] The first obstacle-surmounting wheel and the second obstacle-surmounting wheel are arranged face to face along the length direction of the body.

[0017] Further, the first obstacle-surmounting wheel and the second obstacle-surmounting wheel are respectively in contact with the bristles of the corresponding brush member.

[0018] Further, the first walking device comprises a first housing, a first walking wheel, a first guide wheel, a second motor and a first gear assembly, the first housing is connected with one end of the body in the length direction, the first gear assembly is arranged in the first housing, the driving end of the second motor, the first walking wheel and the first guide wheel are respectively connected with the first gear assembly, and the rotation axis of the first walking wheel is perpendicular to the rotation axis of the first guide wheel.

[0019] Further, the first gear assembly comprises a first driving gear and two first driven gear sets, the two first driven gear sets are respectively arranged on two sides of the first driving gear, and the two first driven gear sets are respectively engaged with the first driving gear, the driving end of the second motor is connected with the first driving gear through the first shell, the first driven gear set is further provided with a first bevel gear, the input end of the first guide wheel is provided with a second bevel gear, and the first bevel gear is connected with the second bevel gear.

[0020] Further, the second walking device comprises a second shell, a second walking wheel, a second guide wheel, a third motor and a second gear assembly, the second shell is arranged at the opposite end of the body in the length direction, the second gear assembly and the transmission assembly are arranged in the second shell, the driving end of the third motor is connected with the second gear assembly, the second walking wheel and the second guide wheel are respectively connected with the second gear assembly, and the rotation axis of the second walking wheel is perpendicular to the rotation axis of the second guide wheel.

[0021] Further, the second gear assembly comprises a second driving gear and two second driven gear sets, the two second driven gear sets are respectively arranged on two sides of the first driving gear, and the two second driven gear sets are respectively engaged with the second driving gear, the driving end of the third motor is connected with the second driving gear through the second shell.

[0022] Further, the transmission assembly comprises two transmission gears and a chain, the two transmission gears are respectively and symmetrically arranged on two sides of the second gear assembly, the chain connects the two transmission gears, the driving end of the first motor is connected with one of the transmission gears, and the first motor drives the two brush pieces to rotate in the same direction through the chain.

[0023] Further, the brush device further comprises a tensioning piece, the tensioning piece is arranged in the second shell, one side of the tensioning piece is connected with the inner wall of the second shell, and the other side of the tensioning piece abuts against the chain.

[0024] Compared with the prior art, the utility model has the beneficial effects that:

[0025] 1. By arranging two brush pieces at the bottom of the body, the same ends of the two brush pieces are respectively rotationally connected with the first walking device and the second walking device, and the driving end of the first motor is connected with the same ends of the two brush pieces through the transmission assembly, so that the cleaning efficiency of the photovoltaic cleaning robot can be improved.

[0026] 2、At least two obstacle crossing devices are fixedly arranged on the side of the first walking device and the second walking device along the moving direction of the body. BRIEF DESCRIPTION OF DRAWINGS

[0027] Figure 1 is a perspective view of the photovoltaic cleaning robot and the photovoltaic module of the utility model;

[0028] Figure 2 is Figure 1 a perspective view of another angle of the photovoltaic cleaning robot of the utility model;

[0029] Figure 3 is a perspective view of the photovoltaic cleaning robot of the utility model;

[0030] Figure 4 is a partial enlarged view of the first walking device in the utility model;

[0031] Figure 5 is a partial enlarged view of the second walking device in the utility model;

[0032] Figure 6 is a perspective view of the second walking device in the utility model;

[0033] Figure 7 is a perspective view of the second shell, the second gear assembly and the second obstacle crossing assembly in the utility model;

[0034] Figure 8 is a perspective view of the first star device in the utility model;

[0035] Figure 9 is Figure 8 a perspective view of the first gear assembly and the second motor in the utility model;

[0036] Figure 10 is a perspective view of the two rollers, the annular limiting member, the connecting shaft and the nut in the utility model.

[0037] REFERENCE SIGNS:

[0038] 100, photovoltaic cleaning robot;

[0039] 200, photovoltaic module;

[0040] 1, body; 11, long side; 111, first end; 112, second end;

[0041] 2, first walking device; 21, first shell; 201, first receiving cavity; 211, first top wall; 212, first bottom wall; 213, first side wall; 214, first back wall; 22, first walking wheel; 221, roller; 2211, roller part; 203, clamping groove; 2212, connecting part; 202, connecting hole; 23, first guide wheel; 231, first rotating shaft; 24, second motor; 25, first gear assembly; 251, first driving gear; 252, first driven gear; 254, first bevel gear; 255, second bevel gear; 26, annular limiting piece; 261, buckle; 27, first connecting seat; 28, rotating shaft; 29, nut;

[0042] 3, second walking device; 31, second shell; 301, second receiving cavity; 311, second top wall; 312, second bottom wall; 313, second side wall; 314, second back wall; 315, cover plate; 316, fixing piece; 32, second walking wheel; 33, second guide wheel; 34, third motor; 35, second gear assembly; 351, second driving gear; 352, second driven gear;

[0043] 4, brush device; 41, brush piece; 42, transmission assembly; 421, transmission gear; 422, chain; 43, first motor; 44, tensioning piece;

[0044] 5, obstacle crossing device; 51, first obstacle crossing assembly; 511, first supporting seat; 501, first waist hole; 512, first rotating shaft; 513, first obstacle crossing wheel; 52, second obstacle crossing assembly; 521, second supporting seat; 502, second waist hole; 522, second rotating shaft; 523, second obstacle crossing wheel;

[0045] 6, controller;

[0046] 7, first anti-unhooking piece;

[0047] 8, second anti-unhooking piece. DETAILED DESCRIPTION

[0048] The exemplary embodiments of the present application will be described in detail below with reference to the accompanying drawings. If there are several embodiments, the features in these embodiments can be combined with each other as long as there is no conflict. When the description refers to the drawings, the same numbers in different drawings represent the same or similar elements unless otherwise specified. The description in the following exemplary embodiments does not represent all the embodiments consistent with the present application; on the contrary, they are only examples of devices, products and / or methods consistent with some aspects of the present application as recited in the claims of the present application.

[0049] The terminology used in the present application is for the purpose of describing particular embodiments only and is not intended to limit the scope of the present application. As used in the specification and claims of the present application, the articles "a", "the", and "said" are intended to mean there is "at least one", unless otherwise indicated in the context.

[0050] It should be understood that the use of terms such as "first", "second", and similar terms throughout the specification and claims of this application are not intended to denote a sequential order, quantity, or importance, but are merely used to distinguish one feature from another. Similarly, the use of terms such as "one" or "a" are not intended to denote a quantity of one, but rather are intended to denote the presence of at least one. Unless otherwise indicated, the terms "front", "back", "up", "down", and similar terms are used for convenience and are not intended to be limiting as to a particular position or spatial orientation. The terms "include", "comprise", and similar terms are open-ended transitional phrases and are intended to mean that the elements following the term are included, but not to the exclusion of other elements. The term "a plurality" is intended to mean two or more.

[0051] Please refer to Figures 1-2 The present application discloses a photovoltaic cleaning robot 100 for cleaning a plurality of photovoltaic modules 200 arranged at intervals, and the adjacent photovoltaic modules 200 have a gap therebetween.

[0052] Please refer to Figures 1-3The photovoltaic cleaning robot 100 comprises a body 1, a first walking device 2, a second walking device 3, a brush device 4, and an obstacle surmounting device 5. The body 1 moves on the top of the plurality of photovoltaic modules 200 along a first direction D1-D1. The first walking device 2 is arranged at one end of the body 1 in the length direction, and drives the body 1 to move along the arrangement direction of the photovoltaic modules 200. The second walking device 3 is arranged at the other end of the body 1 in the length direction, and drives the body 1 to move along the arrangement direction of the photovoltaic modules 200. The brush device 4 comprises two brush pieces 41, a transmission assembly 42, and a first motor 43. The two brush pieces 41 are arranged in parallel and spaced apart at the bottom of the body 1. The same end of the two brush pieces 41 is connected with the first walking device 2 and the second walking device 3 respectively. The transmission assembly 42 is arranged in the second walking device 3, and the two brush pieces 41 are connected with the transmission assembly 42 respectively. The driving end of the first motor 43 is connected with the transmission assembly 42. In this way, the cleaning efficiency of the photovoltaic cleaning robot 100 can be improved. At least two obstacle surmounting devices 5 are arranged beside the first walking device 2 and the second walking device 3 along the moving direction of the photovoltaic cleaning robot. When the photovoltaic cleaning robot 100 moves from one photovoltaic module 200 to another photovoltaic module 200 and approaches the gap between the two photovoltaic modules 200, the free end of the obstacle surmounting device 5 first contacts the other photovoltaic module 200 to support the movement of the photovoltaic cleaning robot 100 to cross the gap between the adjacent photovoltaic modules 200. In this way, there is no need to arrange a bridge between the adjacent photovoltaic modules 200, thereby reducing the cost.

[0053] For the convenience of description, the photovoltaic cleaning robot 100 is defined as shown in the drawings. Figure 1 The moving direction of the photovoltaic cleaning robot 100 on the plurality of photovoltaic modules 200 is a first direction D1-D1, the length direction of the photovoltaic cleaning robot 100 is a second direction D2-D2, and the thickness direction of the photovoltaic cleaning robot 100 is a third direction D3-D3. The first direction D1-D1, the second direction D2-D2, and the third direction D3-D3 are perpendicular to each other.

[0054] Please refer to Figures 1-3 The body 1 comprises two long edges 11 extending along the second direction D2-D2. The long edge 11 comprises a first end 111 and a second end 112. The two first ends 111 are connected with the first walking device 2 respectively, and the two second ends 112 are connected with the second walking device 3 respectively. The photovoltaic cleaning robot 100 further comprises a controller 6 arranged on the upper part of the plane surrounded by the two long edges 11. The controller 6 is electrically connected with the first walking device 2, the second walking device 3, and the first motor 43 to control the rotating speed of the first walking device 2, the second walking device 3, and the first motor 43.

[0055] Please refer to Figures 1-4 and Figures 8-9The first walking device 2 comprises a first housing 21, a first walking wheel 22, a first guide wheel 23, a second motor 24 and a first gear assembly 25. The first housing 21 is fixedly connected with the first ends 111 of the two long edges 11. The first gear assembly 25 is arranged in the first housing 21. The driving end of the second motor 24, the first walking wheel 22 and the first guide wheel 23 are respectively connected with the first gear assembly 25. The rotation axis of the first walking wheel 22 is perpendicular to the rotation axis of the first guide wheel 23. The second motor 24 can drive the first walking wheel 22 and the first guide wheel 23 to rotate, thereby reducing the number of transmission components and improving the transmission efficiency and reducing the cost.

[0056] Preferably, the first housing 21 is fixedly connected with the first ends 111 of the two long edges 11. The first housing 21 comprises a first top wall 211, a first bottom wall 212 arranged opposite to the first top wall 211 along the third direction D3-D3, a first rear wall 214 connecting the first top wall 211 and the first bottom wall 212 in the second direction D2-D2, and two first side walls 213 connecting the two ends of the first top wall 211 and the first bottom wall 212 in the first direction D1-D1. The first top wall 211, the first bottom wall 212, the first rear wall 214 and the two first side walls 213 form a first receiving cavity 201. The first rear wall 214 is fixedly connected with the first ends 111 of the long edges 11. The first gear assembly 25 is arranged in the first receiving cavity 201. The first housing 21 is provided with a first connecting seat 27 on each side in the first direction D1-D1. The two first connecting seats 27 are respectively connected with the two first side walls 213. One end of the brush member 41 is rotatably arranged in the first connecting seat 27. The first walking wheel 22 comprises two first walking wheels 22. The second motor 24 and the two first walking wheels 22 are arranged on the first rear wall 214. The two first walking wheels 22 are respectively arranged on the two sides of the second motor 24 in the first direction D1-D1. The driving end of the second motor 24 and the input ends of the two first walking wheels 22 are respectively connected with the first gear assembly 25 in the first receiving cavity 201 through the first rear wall 214. The first gear assembly 25 comprises a first driving gear 251 and two first driven gear sets 252. The two first driven gear sets 252 are respectively arranged on the two sides of the first driving gear 251 and are respectively meshed with the first driving gear 251. The driving end of the second motor 24 is connected with the first driving gear 251 through the first rear wall 214. The input ends of the first walking wheels 22 are connected with the first driven gear sets 252 through the first rear wall 214. Each first driven gear set 252 further comprises two first driven gears. The two first driven gears are meshed with each other. One of the first driven gears is meshed with the first driving gear 251. In this way, the space utilization of the first receiving cavity 201 can be improved. The overall structure of the first housing 21 is more compact, the transmission efficiency is improved, and the cost is reduced.

[0057] Please refer to Figures 8-9 The first driven gear set 252 is further provided with a first bevel gear 254. The first bevel gear 254 is arranged on one of the first driven gears. Preferably, the first bevel gear 254 is arranged on the first driven gear away from the first driving gear 251. The input end of the first guide wheel 23 is provided with a second bevel gear 255, and the first bevel gear 254 is connected with the second bevel gear 255. Specifically, the first bevel gear 254 is coaxially connected with the first driven gear. The input end of the first guide wheel 23 is provided with a first rotating shaft 231, one end of the first rotating shaft 231 is connected with the first guide wheel 23, and the other end of the first rotating shaft 231 is rotatably connected with the first top wall 211 through the first bottom wall 212. The second bevel gear 255 is arranged on the first rotating shaft 231, and the rotation axis of the second bevel gear 255 is perpendicular to the rotation axis of the first bevel gear 254. By arranging the first bevel gear 254 and the second bevel gear 255, the transmission efficiency and stability are improved. Preferably, the first bottom wall 212 and the first top wall 211 are respectively provided with bearings, and the first rotating shaft 231 passes through the two bearings, thereby improving the stability of the rotation of the first rotating shaft 231.

[0058] Please refer to Figures 1-7 The second walking device 3 comprises a second housing 31, a second walking wheel 32, a second guide wheel 33, a third motor 34 and a second gear assembly 35. The second housing 31 is arranged at the opposite end of the body 1 relative to the first housing 21. The second gear assembly 35 and the transmission assembly 42 are arranged in the second housing 31. The driving end of the third motor 34 is connected with the second gear assembly 35. The second walking wheel 32 and the second guide wheel 33 are respectively connected with the second gear assembly 35. The rotation axis of the second walking wheel 32 is perpendicular to the rotation axis of the second guide wheel 33. In this way, the third motor 34 simultaneously drives the rotation of the second walking wheel 32 and the second guide wheel 33, thereby improving the power of the photovoltaic cleaning robot 100 and reducing the situation that the photovoltaic cleaning robot 100 is stuck on the photovoltaic module 200 due to insufficient power.

[0059] Please refer to Figures 5-7, preferably, the second housing 31 is fixedly connected with the second ends 112 of the two long sides 11. The second housing 31 comprises a second top wall 311, a second bottom wall 312 oppositely arranged with the second top wall 311 along the third direction D3-D3, a second rear wall 314 connecting the second top wall 311 and the second bottom wall 312 along the second direction D2-D2, and two second side walls 313 connecting the two ends of the second top wall 311 and the second bottom wall 312 along the first direction D1-D1, the second top wall 311, the second bottom wall 312, the second rear wall 314 and the two second side walls 313 surround to form a second receiving cavity 301, and the second rear wall 314 is fixedly connected with the second ends 112 of the long sides 11. The second gear assembly 35 and the transmission assembly 42 are arranged in the second receiving cavity 301. The second walking wheels 32 comprise two, the two second walking wheels 32 and the third motor 34 are arranged on the second rear wall 314 respectively, and the two second walking wheels 32 are arranged on the two sides of the third motor 34 along the second direction D2-D2 respectively, and the driving end of the third motor 34 and the input end of the two second walking wheels 32 are connected with the second gear assembly 35 in the second receiving cavity 301 through the second rear wall 314 respectively. The second gear assembly 35 comprises a second driving gear 351 and two second driven gear sets 352, the two second driven gear sets 352 are arranged on the two sides of the second driving gear 351 respectively, and the second driven gear sets 352 are engaged with the second driving gear 351 respectively. The driving end of the second motor 24 is connected with the second driving gear 351 through the second rear wall 314, and the input end of the second walking wheel 32 is connected with the second driven gear set 352 through the second rear wall 314. Each second driven gear set 352 further comprises two second driven gears, the two first driven gears are engaged with each other, and one of the second driven gears is engaged with the second driving gear 351. In this way, the space utilization of the second receiving cavity 301 can be improved, the transmission efficiency can be improved, and the overall structure of the second housing 31 is more compact, and the cost is reduced.

[0060] Please refer to Figures 6-7The transmission assembly 42 comprises two transmission gears 421 and a chain 422. The two transmission gears 421 are symmetrically arranged at two sides of the second gear assembly 35 respectively. The chain 422 connects the two transmission gears 421. The driving end of the first motor 43 is connected with one of the transmission gears 421. The other end of the brush 41 passes through the second bottom wall 312 and is connected with the transmission gear 421. The first motor 43 drives the two brushes 41 to rotate in the same direction through the chain 422. Specifically, each transmission gear 421 is arranged outside the corresponding second driven gear set 352 along the first direction D1-D1. The second shell 31 further comprises a cover plate 315 arranged relative to the second rear wall 314 along the second direction D2-D2. The cover plate 315 covers the second receiving cavity 301. The first motor 43 is arranged on the cover plate 315. The driving end of the first motor 43 passes through the cover plate 315 and is connected with one of the transmission gears 421. Preferably, the chain 422 is arranged outside the second gear assembly 35 along the first direction D1-D1. In this way, the chain 422 can be prevented from being clamped with the second gear assembly 35, thereby affecting the rotation of the second walking wheel 32.

[0061] Please refer to Figure 7 The brush device 4 further comprises a tensioning piece 44 arranged in the second shell 31. One side of the tensioning piece 44 is connected with the inner wall of the second shell 31. The other side of the tensioning piece 44 is in abutment with the chain 422. Preferably, the second shell 31 further comprises two fixing pieces 316 arranged at intervals on the second bottom wall 312. The second guide wheel 33 is rotatably arranged on the fixing piece 316. The second guide wheel 33 rotates by friction with the photovoltaic module 200, thereby realizing the guiding function without power supply. This can reduce the number of gears arranged in the second shell 31 and reduce the cost.

[0062] In the embodiment, the diameter of the first walking wheel 22 is smaller than that of the first guide wheel 23. The diameter of the second walking wheel 32 is smaller than that of the second guide wheel 33. Preferably, the diameter of the first walking wheel 22 is consistent with that of the second walking wheel 32. The diameter of the first guide wheel 23 is consistent with that of the second guide wheel 33. In this way, the first guide wheel 23 and the second guide wheel 33 facilitate obstacle crossing while reducing the center of gravity of the photovoltaic cleaning robot 100, thereby facilitating the photovoltaic cleaning robot 100 to cross the gap.

[0063] Please refer to Figures 1-3The photovoltaic cleaning robot 100 further comprises a first anti-unhooking hook 7 and a second anti-unhooking hook 8. The first anti-unhooking hook 7 is arranged on the first bottom wall 212 and between the two first guide wheels 23. The second anti-unhooking hook 8 is arranged on the second bottom wall 312 and between the two second guide wheels 33. The first anti-unhooking hook 7 and the second anti-unhooking hook 8 are arranged face to face in the second direction D2-D2. When the photovoltaic cleaning robot 100 moves on the photovoltaic module 200, the first anti-unhooking hook 7 and the second anti-unhooking hook 8 are located below the photovoltaic module 200, which can reduce the possibility that the photovoltaic cleaning robot 100 is separated from the photovoltaic module 200 during movement, thereby improving the safety of the photovoltaic cleaning robot 100.

[0064] Please refer to Figures 1-8 The obstacle surmounting device 5 comprises two first obstacle surmounting assemblies 51 and two second obstacle surmounting assemblies 52. The two first obstacle surmounting assemblies 51 are symmetrically arranged on the two sides of the first walking device 2, and the two second obstacle surmounting assemblies 52 are symmetrically arranged on the two sides of the second walking device 3. In this way, the first obstacle surmounting assemblies 51 and the second obstacle surmounting assemblies 52 are arranged to facilitate the photovoltaic cleaning robot 100 to smoothly cross the gap between the photovoltaic modules 200.

[0065] The first obstacle surmounting assembly 51 comprises a first support seat 511, a first rotating shaft 512, and a first obstacle surmounting wheel 513. One end of the first support seat 511 is arranged on the first walking device 2. In this embodiment, one end of the first support seat 511 is arranged on the first connecting seat 27, and the first support seat 511 extends outward from the first connecting seat 27 along the first direction D1-D1. Specifically, the first support seat 511 is provided with a first waist hole 501, one end of the first rotating shaft 512 penetrates through the first waist hole 501, the first rotating shaft 512 extends along the second direction D2-D2, and the first obstacle surmounting wheel 513 is arranged on the other end of the first rotating shaft 512. Preferably, the distance between the first obstacle surmounting wheel 513 and the first walking wheel 22 is 225 mm. In this way, when the gap between the photovoltaic modules 200 is within 200 mm, the first obstacle surmounting wheel 513 can abut the adjacent photovoltaic module 200 first when the photovoltaic cleaning robot 100 approaches the gap, so as to form a supporting force, thereby facilitating the first walking wheel 22 to smoothly cross the gap.

[0066] The second obstacle-surmounting assembly 52 comprises a second support base 521, a second rotating shaft 522 and a second obstacle-surmounting wheel 523. One end of the second support base 521 is arranged on the second walking device 3. In the embodiment, one end of the second support base 521 is arranged on the second side wall 313, and the second support base 521 extends outward from the second side wall 313 along the second direction D2-D2. Specifically, the second support base 521 is provided with a second waist hole 502, one end of the second rotating shaft 522 passes through the second waist hole 502, the second rotating shaft 522 extends along the second direction D2-D2, and the second obstacle-surmounting wheel 523 is arranged at the other end of the second rotating shaft 522. Preferably, the distance between the second obstacle-surmounting wheel 523 and the second walking wheel 32 is 225 mm, so that when the gap between the photovoltaic modules 200 is within 200 mm, the second obstacle-surmounting wheel 523 can abut the adjacent photovoltaic module 200 first to form a supporting force when the photovoltaic cleaning robot 100 approaches the gap, so that the second walking wheel 32 can smoothly cross the gap. In the embodiment, the first obstacle-surmounting wheel 513 and the second obstacle-surmounting wheel 523 are arranged face to face along the second direction D2-D2 to improve synchronicity, and the first obstacle-surmounting wheel 513 and the second obstacle-surmounting wheel 523 can synchronously cross the gap and abut the top of the adjacent photovoltaic module 200.

[0067] The first obstacle-surmounting wheel 513 and the second obstacle-surmounting wheel 523 are respectively in contact with the bristles of the corresponding brush member 41. Specifically, because the first obstacle-surmounting wheel 513 and the second obstacle-surmounting wheel 523 are arranged outside the two brush members 41, and part of the bristles on the brush members 41 are in contact with the surfaces of the first obstacle-surmounting wheel 513 and the second obstacle-surmounting wheel 523, which can help clean the dust on the surfaces of the first obstacle-surmounting wheel 513 and the second obstacle-surmounting wheel 523, thereby improving the friction between the first obstacle-surmounting wheel 513 and the second obstacle-surmounting wheel 523 and the photovoltaic module 200 when they are in contact.

[0068] Please refer to Figure 10In the embodiment, each first walking wheel 22 comprises two rollers 221 connected by an annular limiting member 26. Specifically, the roller comprises a roller part 2211 and a connecting part 2212 arranged at the center of the roller part 2211, and the center of the connecting part 2212 is provided with a connecting hole 202. The outer periphery of the annular limiting member 26 is provided with a plurality of buckles 261, and the inner wall of the roller part 2211 is provided with a plurality of clamping grooves 203 matched with the buckles 261. At least part of the annular limiting member 26 can be clamped on the inner wall of the roller part 2211. In this way, the two rollers 221 can be connected by the annular limiting member 26, and the rotating shaft 28 passes through the two connecting holes 202 and is connected with the nut 29, so that the two rollers 221 can rotate coaxially. In this way, the first walking wheel 22 can be lengthened as needed to adapt to photovoltaic modules 200 of different specifications, improving the adaptability and obstacle crossing ability of the first walking wheel 22. Preferably, the structures of the second walking wheel 32, the first guide wheel 23 and the second guide wheel 33 are consistent with that of the roller 221, which will not be described here.

[0069] In summary, the utility model discloses a photovoltaic cleaning robot 100, photovoltaic cleaning robot 100 includes body 1, first walking device 2, second walking device 3, brush device 4 and barrier crossing device 5. Photovoltaic cleaning robot 100 is used to clean a plurality of interval arrangement's photovoltaic module 200, and there is a gap between adjacent photovoltaic module 200. Photovoltaic cleaning robot 100 includes body 1, first walking device 2, second walking device 3, brush device 4 and barrier crossing device 5. Brush device 4 includes two brush pieces 41, by setting two brush pieces 41 at the bottom of body 1, the driving end of first motor 43 improves the cleaning efficiency of photovoltaic module 200. At least two barrier crossing devices 5 are fixedly arranged on the side of first walking device 2 and second walking device 3 along the direction of travel of body 1. When photovoltaic cleaning robot 100 moves from one photovoltaic module 200 to another photovoltaic module 200, the free end of barrier crossing device 5 contacts another photovoltaic module 200 to move photovoltaic cleaning robot 100 to cross the support, thereby realizing automatic crossing of photovoltaic module 200 with a section interval, reducing the cost of manual and maintenance.

[0070] The above embodiments are only used to illustrate the present application and not to limit the technical solutions described in the present application. The understanding of the present application should be based on the technical personnel in the technical field, for example, the directional description of "front", "rear", "left", "right", "up", "down" and the like. Although the present application has been described in detail with reference to the above embodiments, it should be understood by those skilled in the art that the technical personnel in the technical field can still modify or equivalently replace the present application, and all technical solutions and improvements that do not deviate from the spirit and scope of the present application should be covered within the scope of the claims of the present application.

Claims

1. A photovoltaic cleaning robot for cleaning a plurality of photovoltaic modules (200) arranged in spaced apart rows with gaps between adjacent photovoltaic modules (200), characterized in that, The utility model relates to a photovoltaic module cleaning robot, which comprises a body (1), a first walking device (2) arranged at one end of the length direction of the body (1), the first walking device (2) driving the body (1) to move along the arrangement direction of a plurality of photovoltaic modules (200), a second walking device (3) arranged at the other end of the length direction of the body (1), the second walking device (3) driving the body (1) to move along the arrangement direction of a plurality of photovoltaic modules (200), a brush device (4) comprising two brush pieces (41), a transmission assembly (42) and a first motor (43), the two brush pieces (41) being arranged at the bottom of the body (1) in a spaced and parallel manner, the same end of the two brush pieces (41) being rotatably connected with the first walking device (2) and the second walking device (3) respectively, the transmission assembly (42) being arranged in the second walking device (3), the two brush pieces (41) being connected with the transmission assembly (42) respectively, and the driving end of the first motor (43) being connected with the transmission assembly (42), at least two obstacle crossing devices (5) being fixedly arranged beside the first walking device (2) and the second walking device (3) along the moving direction of the photovoltaic cleaning robot, when the photovoltaic cleaning robot moves from one photovoltaic module (200) to another photovoltaic module (200), the free end of the obstacle crossing device (5) first contacts the other photovoltaic module (200) to support the movement of the photovoltaic cleaning robot and cross the gap between the adjacent photovoltaic modules (200). The obstacle crossing device (5) comprises two first obstacle crossing assemblies (51) and two second obstacle crossing assemblies (52), the two first obstacle crossing assemblies (51) being symmetrically arranged at the two sides of the first walking device (2) respectively, and the two second obstacle crossing assemblies (52) being symmetrically arranged at the two sides of the second walking device (3) respectively. The first obstacle crossing assembly (51) comprises a first support seat (511), a first rotating shaft (512) and a first obstacle crossing wheel (513), one end of the first support seat (511) is arranged on the first walking device (2), the first rotating shaft (512) is arranged through the other end of the first support seat (511), and the first obstacle crossing wheel (513) is rotatably arranged on the first rotating shaft (512). The second obstacle crossing assembly (52) comprises a second support seat (521), a second rotating shaft (522) and a second obstacle crossing wheel (523), one end of the second support seat (521) is arranged on the second walking device (3), the second rotating shaft (522) is arranged through the other end of the second support seat (521), and the second obstacle crossing wheel (523) is rotatably arranged on the second rotating shaft (522). The first obstacle crossing wheel (513) and the second obstacle crossing wheel (523) are arranged face to face along the length direction of the body (1). ​ ​ 2. The photovoltaic cleaning robot of claim 1, wherein: ​ 3. The photovoltaic cleaning robot of claim 2, wherein: ​ ​ ​ 4. The photovoltaic cleaning robot of claim 3, wherein; The first obstacle wheel (513) and the second obstacle wheel (523) are in contact with the bristles of the corresponding brush member (41).

5. The photovoltaic cleaning robot of claim 1, wherein: The first walking device (2) comprises a first housing (21), a first walking wheel (22), a first guide wheel (23), a second motor (24) and a first gear assembly (25), the first housing (21) is connected with one end of the body (1) in the length direction, the first gear assembly (25) is arranged in the first housing (21), the driving end of the second motor (24), the first walking wheel (22) and the first guide wheel (23) are connected with the first gear assembly (25) respectively, and the rotation axis of the first walking wheel (22) is perpendicular to the rotation axis of the first guide wheel (23).

6. The photovoltaic cleaning robot of claim 5, wherein: The first gear assembly (25) comprises a first driving gear (251) and two first driven gear sets (252), two first driven gear sets (252) are arranged on both sides of the first driving gear (251) respectively, and two first driven gear sets (252) are meshed with the first driving gear (251) respectively, the driving end of the second motor (24) is connected with the first driving gear (251) through the first housing (21), the first driven gear set (252) is also provided with a first bevel gear (254), the input end of the first guide wheel (23) is provided with a second bevel gear (255), and the first bevel gear (254) is connected with the second bevel gear (255).

7. The photovoltaic cleaning robot of claim 6, wherein: The second walking device (3) comprises a second housing (31), a second walking wheel (32), a second guide wheel (33), a third motor (34) and a second gear assembly (35), the second housing (31) is arranged at the opposite end of the body (1) in the length direction relative to the first housing (21), the second gear assembly (35) and the transmission assembly (42) are arranged in the second housing (31), the driving end of the third motor (34) is connected with the second gear assembly (35), the second walking wheel (32) and the second guide wheel (33) are connected with the second gear assembly (35) respectively, and the rotation axis of the second walking wheel (32) is perpendicular to the rotation axis of the second guide wheel (33).

8. The photovoltaic cleaning robot of claim 7, wherein: The second gear assembly (35) comprises a second driving gear (351) and two second driven gear sets (352), two second driven gear sets (352) are arranged on both sides of the first driving gear (251) respectively, and two second driven gear sets (352) are meshed with the second driving gear (351) respectively, and the driving end of the third motor (34) is connected with the second driving gear (351) through the second housing (31).

9. The photovoltaic cleaning robot of claim 7, wherein: The transmission assembly (42) comprises two transmission gears (421) and a chain (422), the two transmission gears (421) are symmetrically arranged on the two sides of the second gear assembly (35), the chain (422) is connected with the two transmission gears (421), and the driving end of the first motor (43) is connected with one of the transmission gears (421); the first motor (43) drives the two brush parts (41) to rotate in the same direction through the chain (422).

10. The photovoltaic cleaning robot of claim 9, wherein: The brush device (4) further comprises a tensioning piece (44), the tensioning piece (44) is arranged in the second shell (31), one side of the tensioning piece (44) is connected with the inner wall of the second shell (31), and the other side of the tensioning piece (44) abuts against the chain (422).

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