Walking supporting device and photovoltaic cleaning robot

Abstract

The utility model discloses a walking support device and a photovoltaic cleaning robot, comprising: a walking wheel support body having a first rolling brush support hole and a walking wheel support hole; the walking wheel supporting body is provided with a first rolling brush supporting hole, the main beam supporting body is provided with a second rolling brush supporting hole, one of the walking wheel supporting body and the main beam supporting body is provided with a torsion groove coaxial with the first rolling brush supporting hole and the second rolling brush supporting hole, a first torsion angle limiting part is arranged in the torsion groove, and the other one is provided with a second torsion angle limiting part embedded into the torsion groove. The second torsion angle limiting part is rotationally matched with the torsion groove, and the first torsion angle limiting part is located on the rotating path of the second torsion angle limiting part. The first torsion angle limiting part is arranged in the torsion groove, so that the first torsion angle limiting part and the second torsion angle limiting part are arranged close to the axes of the first rolling brush supporting hole and the second rolling brush supporting hole, and compared with the mode that the torsion angle limiting parts are arranged on other devices, large space is not occupied. And a larger torsion angle can be obtained.

Description

TECHNICAL FIELD

[0001] The utility model relates to photovoltaic cleaning robot technical field more specifically, relate to a walking support device and photovoltaic cleaning robot. BACKGROUND

[0002] Photovoltaic power station as the representative of renewable energy, with its clean and renewable advantage, become the important component of modern energy structure. Photovoltaic panel is exposed for a long time, easy to accumulate dust and dirt, affect the power generation efficiency. To solve this problem, photovoltaic cleaning robot arises at the historic moment. The working principle of photovoltaic cleaning robot is simple and efficient, and it can plan cleaning path autonomously. They use specific brush and other cleaning devices, which can easily remove the dirt on the surface of photovoltaic panel, and ensure the efficient power generation of photovoltaic panel.

[0003] The first walking mechanism and the second walking mechanism are arranged at the two ends of the photovoltaic cleaning robot respectively, the structures of the first walking mechanism and the second walking mechanism are basically same, and each includes a walking support device and a walking wheel arranged on the walking support device. In addition to supporting the walking wheel, the walking support device usually supports the main beam and the cleaning roller brush of the photovoltaic cleaning robot. In some application scenarios of the photovoltaic cleaning robot, the walking mechanisms (i.e. the first walking mechanism and the second walking mechanism) on the two sides are no longer on the same plane, which requires one of the walking mechanisms on the two sides to have a torsion function. The photovoltaic cleaning robots in the prior art cannot meet this application scenario.

[0004] Therefore, how to enable the photovoltaic cleaning robot to be applied to the scenario that the walking mechanisms on the two sides are on different planes is a problem to be solved by those skilled in the art. UTILITY MODEL CONTENT

[0005] Therefore, how to enable the photovoltaic cleaning robot to be applied to the scenario that the walking mechanisms on the two sides are on different planes is a problem to be solved by those skilled in the art.

[0006] Another purpose of the utility model is to provide a photovoltaic cleaning robot with the walking support device.

[0007] To achieve the above purpose, the utility model provides the following technical scheme.

[0008] A walking support device comprises:

[0009] The walking wheel support body is used for a photovoltaic cleaning robot and has a first roller brush support hole and walking wheel support holes arranged on both sides of the first roller brush support hole.

[0010] The main beam support body has a second rolling brush support hole, one of the walking wheel support body and the main beam support body is provided with a torsion slot coaxially arranged with the first rolling brush support hole and the second rolling brush support hole, the torsion slot is provided with a first torsion angle limiting part, the other is provided with a second torsion angle limiting part embedded in the torsion slot and rotationally matched with the torsion slot, the first torsion angle limiting part is located on the rotation path of the second torsion angle limiting part.

[0011] Optionally, in the walking support device, the first torsion angle limiting part is two and symmetrically arranged in the torsion slot.

[0012] The main beam support body swings between a first boundary and a second boundary, when the second torsion angle limiting part abuts against one of the first torsion angle limiting parts, the main beam support body swings to the first boundary, and when the second torsion angle limiting part abuts against the other first torsion angle limiting part, the main beam support body swings to the second boundary.

[0013] Optionally, in the walking support device, the second torsion angle limiting part is two and symmetrically arranged along the second rolling brush support hole.

[0014] When one of the second torsion angle limiting parts abuts against one of the first torsion angle limiting parts, the other of the second torsion angle limiting parts abuts against the other of the first torsion angle limiting parts.

[0015] Optionally, in the walking support device, the walking wheel support hole includes a first walking wheel hole for mounting a first walking wheel, the first walking wheel is a walking wheel arranged on the upper surface of the photovoltaic module, and the center line of the two first walking wheel holes is a first center line.

[0016] The main beam support body is provided with a main beam support hole for supporting a main beam, the center line of the main beam support hole and the second rolling brush support hole is a second center line, when the first center line is perpendicular to the second center line, the second torsion angle limiting part is located between the two first torsion angle limiting parts.

[0017] Optionally, in the walking support device, the first torsion angle limiting part and the second torsion angle limiting part are both sector blocks.

[0018] The planes where the two side edges of the first torsion angle limiting part are located both pass through the axis of the first rolling brush support hole.

[0019] The planes where the two side edges of the second torsion angle limiting part are located both pass through the axis of the second rolling brush support hole.

[0020] The walking support device provided by the utility model is divided into two parts, which are a walking wheel support body and a main beam support body. The walking wheel support body is used for supporting a cleaning assembly and a walking wheel, and the main beam support body is used for supporting a main beam of a photovoltaic cleaning robot. One of the walking wheel support body and the main beam support body has a torsion groove coaxially arranged with the first roller brush support hole and the second roller brush support hole, and the other has a second torsion angle limiting part embedded in the torsion groove and rotationally matched with the torsion groove, so that the main beam support body and the walking wheel support body can swing within a certain angle. The first torsion angle limiting part is arranged in the torsion groove, and when the main beam support body and the walking wheel support body are relatively rotated to the abutment of the first torsion angle limiting part and the second torsion angle limiting part, the rotation of the two can be prevented.

[0021] The utility model discloses the first torsion angle limiting part torsion groove, and the second torsion angle limiting part is coaxially arranged with the first roller brush support hole, so that the first torsion angle limiting part and the second torsion angle limiting part are arranged adjacent to the axis of the first roller brush support hole and the second roller brush support hole. Compared with arranging the torsion angle limiting part on other devices, a larger space is not occupied, and a larger torsion angle can also be obtained.

[0022] A photovoltaic cleaning robot comprises:

[0023] A main beam;

[0024] A walking wheel system comprising a first walking mechanism and a second walking mechanism arranged at two ends of the main beam respectively, wherein the first walking mechanism and the second walking mechanism each comprise a walking support device and a walking wheel arranged on the walking support device, and the walking support device of one of the first walking mechanism and the second walking mechanism is the walking support device according to any one of the preceding items.

[0025] A cleaning assembly supported on the walking support devices of the first walking mechanism and the second walking mechanism.

[0026] Optionally, in the above-mentioned photovoltaic cleaning robot, the bottom of the walking support device is provided with a carrying tool mounting interface, and the carrying tool mounting interface is used for connecting a carrying tool.

[0027] Optionally, in the above-mentioned photovoltaic cleaning robot, the carrying tool comprises a connecting rod body and a gripping rod body connected to the first end of the connecting rod body.

[0028] The carrying tool mounting interface is a jack opening in the bottom of the walking support device, and the second end of the connecting rod body is inserted into the jack.

[0029] Optionally, in the photovoltaic cleaning robot, a self-charging photovoltaic assembly is arranged on the main beam, and is used for supplying power and / or charging for the photovoltaic cleaning robot.

[0030] Optionally, in the photovoltaic cleaning robot, a self-charging assembly cleaning unit is movably arranged on the self-charging photovoltaic assembly or the main beam along the extension direction of the self-charging photovoltaic assembly, and is used for cleaning the self-charging photovoltaic assembly.

[0031] Optionally, in the photovoltaic cleaning robot, the self-charging assembly cleaning unit comprises:

[0032] a moving member striding on the self-charging photovoltaic assembly;

[0033] a cleaning member arranged on the moving member and abutting against the self-charging photovoltaic assembly;

[0034] a first transmission member arranged on a first side frame of the self-charging photovoltaic assembly;

[0035] a second transmission member in transmission cooperation with the first transmission member and connected to the moving member;

[0036] a self-charging driving motor in transmission connection with one of the first transmission member and the second transmission member, and used for driving the second transmission member to reciprocate along the first transmission member.

[0037] The photovoltaic cleaning robot provided by the utility model has all the technical effects of the walking support device, and the description of the technical effects of the walking support device is not repeated herein. BRIEF DESCRIPTION OF DRAWINGS

[0038] In order to more clearly illustrate the technical solutions of the embodiments of the utility model or the prior art, the following will briefly introduce the drawings needed to be used in the embodiment or the prior art description. Obviously, the drawings in the following description are only some embodiments of the utility model, and for those skilled in the art, other drawings can also be obtained according to these drawings without creative labor.

[0039] Figure 1 The structure schematic diagram of the photovoltaic cleaning robot disclosed by the utility model embodiment is shown in the figure.

[0040] Figure 2 The left view of the photovoltaic cleaning robot disclosed by the utility model embodiment is shown in the figure.

[0041] Figure 3 The right view of the photovoltaic cleaning robot disclosed by the utility model embodiment is shown in the figure.

[0042] Figure 4This is a cross-sectional view of the photovoltaic cleaning robot disclosed in an embodiment of this utility model;

[0043] Figure 5 This is an exploded view of the photovoltaic cleaning robot disclosed in an embodiment of this utility model;

[0044] Figure 6 This is a schematic diagram of the walking wheel support body disclosed in an embodiment of the present utility model at one angle;

[0045] Figure 7 This is a schematic diagram of the walking wheel support body disclosed in an embodiment of the present utility model from another angle;

[0046] Figure 8 This is a schematic diagram of the main beam support structure disclosed in an embodiment of the present utility model;

[0047] Figure 9 This is a schematic diagram of the rotation range of the main beam support body disclosed in an embodiment of this utility model;

[0048] Figure 10 This is a schematic diagram of the walking support device disclosed in an embodiment of the present utility model;

[0049] Figure 11 This is a schematic diagram of the structure of the photovoltaic cleaning robot disclosed in this embodiment of the invention when it is moved using a handling tool;

[0050] Figure 12 This is a schematic diagram of the structure of the self-charging component cleaning unit installed on the self-charging photovoltaic component according to an embodiment of the present utility model.

[0051] Figure 13 This is a side view of the self-charging component cleaning unit installed on a self-charging photovoltaic module according to an embodiment of the present invention.

[0052] The meanings of the various reference numerals in the figure are as follows:

[0053] 100-Main beam; 101-Cleaning fluid nozzle; 102-Nozzle interface; 103-Cleaning fluid pipeline; 104-Limiting and fixing groove;

[0054] 200 - Sweeping assembly; 210 - Sweeping roller brush; 220 - Sweeping drive unit; 230 - Roller brush connecting shaft;

[0055] 300 - walking wheel system; 310 - walking support device; 311 - walking wheel support body; 3111 - first rolling brush support hole; 3112 - first walking wheel hole; 3113 - second walking wheel hole; 3114 - torsion slot; 3115 - first torsion angle limiting part; 3116 - carrying tool mounting interface; 312 - main beam support body; 3121 - second torsion angle limiting part; 3122 - second rolling brush support hole; 3123 - main beam support hole; 313 - rolling brush bearing; 314 - rolling brush bearing seat; 320a - first walking wheel; 320b - second walking wheel;

[0056] 400 - self-charging photovoltaic module;

[0057] 500 - self-charging module cleaning unit; 501 - moving piece; 502 - auxiliary guide rail; 503 - cleaning piece; 504 - guide wheel; 505 - auxiliary driving motor; 506 - self-charging driving motor; 507 - second transmission piece; 5071 - gear; 5072 - limiting wheel; 508 - first transmission piece; 509 - limiting baffle;

[0058] 600 - battery and control system;

[0059] 700 - carrying tool;

[0060] 800 - photovoltaic module. DETAILED DESCRIPTION

[0061] The core of the utility model lies in providing a walking support device, so that the photovoltaic cleaning robot can be applied to the scene that the two-side walking mechanisms are on different planes.

[0062] Another core of the utility model lies in providing a photovoltaic cleaning robot with the above walking support device.

[0063] Hereinafter, the embodiments will be described with reference to the drawings. In addition, the embodiments shown below do not have any limiting effect on the utility model content recited in the claims. In addition, the entire content of the configuration represented in the following embodiments is not limited to being necessary as a solution to the utility model recited in the claims. It should be noted that, for the convenience of description, only the parts related to the utility model are shown in the drawings. In the case of no conflict, the embodiments in the utility model and the features in the embodiments can be combined with each other.

[0064] As shown in Figure 2 and Figure 3 The utility model embodiment discloses walking support device 310 after being applied to photovoltaic cleaning robot, can make photovoltaic cleaning robot can be applied to the scene that the two-side walking mechanisms are on different planes.

[0065] Please combine Figures 6-8The utility model embodiment discloses walking support device 310 includes walking wheel support body 311 and main beam support body 312. Among them, walking wheel support body 311 has first rolling brush support hole 3111 and sets up walking wheel support hole on both sides of first rolling brush support hole 3111. Two walking wheel support holes can be arranged symmetrically relative to first rolling brush support hole 3111, also can be arranged asymmetrically, specifically can select according to actual scene. First rolling brush support hole 3111 is used to support cleaning assembly 200, and walking wheel support hole is used to support walking wheel.

[0066] One of walking wheel support body 311 and main beam support body 312 is provided with torsion groove 3114 arranged coaxially with first rolling brush support hole 3111 and second rolling brush support hole 3122, and first torsion angle limiting portion 3115 is arranged in torsion groove 3114. The other of walking wheel support body 311 and main beam support body 312 is provided with second torsion angle limiting portion 3121 embedded in torsion groove 3114 and rotationally matched with torsion groove 3114.

[0067] For the convenience of understanding, this embodiment is introduced taking the example that torsion groove 3114 and first torsion angle limiting portion 3115 are arranged in walking wheel support body 311, and second torsion angle limiting portion 3121 is arranged in main beam support body 312. It should be noted that torsion groove 3114 and first torsion angle limiting portion 3115 can also be arranged in main beam support body 312, and second torsion angle limiting portion 3121 can be arranged in walking wheel support body 311.

[0068] One side end face of walking wheel support body 311 is provided with torsion groove 3114 arranged coaxially with first rolling brush support hole 3111, and the depth of torsion groove 3114 can be designed according to actual scene. Torsion groove 3114 is adjacent to first rolling brush support hole 3111, and the outer ring of first rolling brush support hole 3111 can be directly provided with torsion groove 3114, so that torsion groove 3114 is coaxial with first rolling brush support hole 3111. The smaller the diameter difference between torsion groove 3114 and first rolling brush support hole 3111, the smaller the space occupied by the torsion angle limiting portion (first torsion angle limiting portion 3115 and second torsion angle limiting portion 3121). First torsion angle limiting portion 3115 is arranged in torsion groove 3114 and is used to limit the relative rotation angle of walking wheel support body 311 and main beam support body 312.

[0069] The main beam support body 312 has a second roller brush support hole 3122 coaxially arranged with the first roller brush support hole 3111. The main beam support body 312 is used to support the main beam 100 of the photovoltaic cleaning robot, in other words, the main beam support body 312 needs to be connected with the main beam 100 to realize relative fixation with the main beam 100. Specifically, the main beam support hole 3123 can be arranged on the main beam support body 312, and the main beam 100 is supported in the main beam support hole 3123; other ways can also be used to realize fixation of the main beam 100 and the main beam support body 312 to keep the relative fixation of the main beam support body 312 and the main beam 100. The second roller brush support hole 3122 is used to support the cleaning assembly 200 together with the first roller brush support hole 3111.

[0070] The second torsion angle limiting part 3121 is arranged on one side end face of the main beam support body 312 and embedded in the torsion slot 3114 and rotationally matched with the torsion slot 3114, and the first torsion angle limiting part 3115 is located on a rotation path of the second torsion angle limiting part 3121. When the walking wheel support body 311 and the main beam support body 312 rotate relative to each other, the second torsion angle limiting part 3121 rotates in the torsion slot 3114, so as to change the positional relationship between the second torsion angle limiting part 3121 and the first torsion angle limiting part 3115. When the second torsion angle limiting part 3121 and the first torsion angle limiting part 3115 abut against each other, the relative rotation of the walking wheel support body 311 and the main beam support body 312 can be prevented.

[0071] The walking support device 310 disclosed in the embodiment of the utility model can be applied to the walking mechanism on one side of the photovoltaic cleaning robot, so that when the walking wheels on both sides walk on different planes, the walking mechanism with the walking support device 310 disclosed in the embodiment can make the walking wheels deflect along with the walking wheel support body 311, and the main beam support body 312 continues to keep parallel with the main beam support body 312 on the other side, so that the main beam 100 does not deflect.

[0072] The walking support device 310 disclosed in the embodiment of the utility model is divided into two parts, which are walking wheel support body 311 and main beam support body 312 respectively. Among them, walking wheel support body 311 is used for supporting cleaning assembly and walking wheel, and main beam support body 312 is used for supporting main beam 100 of photovoltaic cleaning robot. One of walking wheel support body 311 and main beam support body has torsion groove 3114 arranged coaxially with first rolling brush support hole 3111 and second rolling brush support hole, and the other has second torsion angle limiting part 3121 embedded in the torsion groove 3114 and rotationally matched with the torsion groove 3114, so that main beam support body 312 and walking wheel support body 311 can swing within a certain angle. First torsion angle limiting part 3115 is arranged in the torsion groove 3114, and when main beam support body 312 and walking wheel support body 311 are relatively rotated to abut against first torsion angle limiting part 3115 and second torsion angle limiting part 3121, the rotation of the two can be prevented.

[0073] The utility model discloses first torsion angle limiting part 3115 in the torsion groove 3114, second torsion angle limiting part 3121 is arranged coaxially with first rolling brush support hole 3111, so that first torsion angle limiting part 3115 and second torsion angle limiting part 3121 are arranged adjacent to the axis of first rolling brush support hole 3111 and second rolling brush support hole, compared with setting torsion angle limiting part on other device, it is not necessary to occupy larger space, also can obtain greater torsion angle.

[0074] In the embodiment, first torsion angle limiting part 3115 is two, and is symmetrically arranged in torsion groove 3114, that is, two first torsion angle limiting parts 3115 are symmetrically arranged along the axis of torsion groove 3114. Second torsion angle limiting part 3121 can slide between two first torsion angle limiting parts 3115, and the swing boundary of main beam support body 312 is limited by two first torsion angle limiting parts 3115, that is, main beam support body 312 swings between first boundary and second boundary.

[0075] When second torsion angle limiting part 3121 abuts against one of first torsion angle limiting parts 3115, main beam support body 312 swings to first boundary, and when second torsion angle limiting part 3121 abuts against the other first torsion angle limiting part 3115, main beam support body 312 swings to second boundary.

[0076] It should be noted that only one first torsion angle limiting part 3115 can be provided, and when second torsion angle limiting part 3121 abuts against the first side of the first torsion angle limiting part 3115, main beam support body 312 swings to first boundary, and when second torsion angle limiting part 3121 abuts against the second side of the first torsion angle limiting part 3115, main beam support body 312 swings to second boundary.

[0077] As shown in the drawings, Figure 9 In the embodiment, the swing angle A of the walking wheel support body 311 and the main beam support body 312 can be limited within a range close to 180° by arranging two first torsion angle limiting portions 3115. Further, two second torsion angle limiting portions 3121 can also be arranged, and the two second torsion angle limiting portions 3121 are symmetrically arranged along the second roller brush support hole 3122.

[0078] When one of the second torsion angle limiting portions 3121 abuts against one of the first torsion angle limiting portions 3115, the other of the second torsion angle limiting portions 3121 abuts against the other of the first torsion angle limiting portions 3115. That is, when the main beam support body 312 swings to the first boundary, the two second torsion angle limiting portions 3121 abut against the two first torsion angle limiting portions 3115, respectively; when the main beam support body 312 swings to the second boundary, the two second torsion angle limiting portions 3121 abut against the two first torsion angle limiting portions 3115, respectively. In the embodiment, by arranging two second torsion angle limiting portions 3121 and two first torsion angle limiting portions 3115, the limiting of the first boundary and the second boundary can be more reliable, and when the main beam support body 312 rotates relative to the walking wheel support body 311 to the boundary position, it can be reliably limited.

[0079] As shown in the drawings, Figure 3 and Figure 7 In the embodiment, the walking wheel support hole includes a first walking wheel hole 3112, which is used to install a first walking wheel 320a, and the first walking wheel 320a is a walking wheel arranged on the upper surface of the photovoltaic module 800. In addition, the walking wheel support hole can also include a second walking wheel hole 3113, which is used to install a second walking wheel 320b, and the second walking wheel 320b is a walking wheel arranged on the side of the photovoltaic module 800.

[0080] As shown in the drawings, Figure 7 and Figure 8 When the center line of the two first walking wheel holes 3112 is a first line, and the center line of the main beam support hole 3123 and the second roller brush support hole 3122 is a second line, the second torsion angle limiting portion 3121 is located in the middle of the two first torsion angle limiting portions 3115 when the first line is perpendicular to the second line; in other words, when the first line is perpendicular to the second line, the line connecting the two second torsion angle limiting portions 3121 is also perpendicular to the line connecting the two first torsion angle limiting portions 3115. When the walking mechanisms on both sides of the photovoltaic cleaning robot walk on the same plane, the walking wheel support body 311 is perpendicular to the main beam support body 312, and the walking wheel support body 311 swings to the same angle in two directions, so as to improve the application scenarios of the photovoltaic cleaning robot.

[0081] Further, the first torsion angle limiting part 3115 and the second torsion angle limiting part 3121 can be both sector blocks, the planes where the two side edges of the first torsion angle limiting part 3115 are located both pass through the axis of the first roller brush support hole 3111; similarly, the planes where the two side edges of the second torsion angle limiting part 3121 are located both pass through the axis of the second roller brush support hole 3122. In this way, when the first torsion angle limiting part 3115 and the second torsion angle limiting part 3121 abut, face-face contact can be ensured, surface pressure can be reduced, and operation reliability can be improved.

[0082] As shown in Figures 1-5 The utility model discloses a photovoltaic cleaning robot, the photovoltaic cleaning robot includes main beam 100, walking wheel system 300 and cleaning assembly 200. Wherein, walking wheel system 300 includes the first walking mechanism and the second walking mechanism of setting up in the both ends of main beam 100 respectively, and the walking wheel of setting up on walking support device 310 is included to the first walking mechanism and the second walking mechanism, and the walking support device 310 of one of the first walking mechanism and the second walking mechanism is the walking support device 310 disclosed in the above embodiment.

[0083] It needs to be explained that the walking support device 310 of one of the first walking mechanism and the second walking mechanism is the walking support device 310 disclosed in the above embodiment, and the other is Figure 10 The walking support device 310 shown in the figure, Figure 10 The basic structure of the walking support device 310 shown in the figure is same with the walking support device 310 disclosed in the above embodiment, and the difference lies in that the walking wheel support body 311 and the main beam support body 312 are designed as a whole, for example, can be integrated structure, and also can be fixed by fixed mode, that is, the angle relationship of the walking wheel support body 311 and the main beam support body 312 remains unchanged, to ensure the stability of the main beam 100.

[0084] The cleaning assembly 200 is supported on the walking support device 310 of the first walking mechanism and the second walking mechanism. In the walking process of the photovoltaic cleaning robot along the photovoltaic assembly, the cleaning assembly 200 sweeps the surface of the passing photovoltaic assembly to wipe off the dust deposited on the surface of the photovoltaic assembly. The photovoltaic cleaning robot provided by the utility model has the walking support device 310, so it has all the technical effects of the walking support device 310, which will not be repeated here.

[0085] As shown in Figure 4As shown, in this embodiment, the cleaning assembly 200 includes a cleaning roller brush 210, a cleaning drive device 220, and a roller brush connecting shaft 230. The cleaning drive device 220 is fixed to one of the first traveling mechanism and the second traveling mechanism. The roller brush connecting shaft 230 is rotatably mounted on the other of the first and second traveling mechanisms. Specifically, the roller brush connecting shaft 230 can be supported on the other of the first and second traveling mechanisms through a roller brush bearing seat 314 and a roller brush bearing 313, so that the roller brush connecting shaft 230 can rotate. Both the cleaning drive device 220 and the roller brush connecting shaft 230 are connected to the cleaning roller brush 210 via universal joints.

[0086] To facilitate the handling of photovoltaic cleaning robots, they can be easily removed from or mounted onto photovoltaic modules. For example... Figure 7 and Figure 10 As shown, in this embodiment, a transport tool installation interface 3116 is provided at the bottom of the walking support device 310.

[0087] like Figure 11 As shown, the handling tool mounting interface 3116 is used to connect the handling tool 700. When it is necessary to move the photovoltaic cleaning robot, the handling tool 700 can be connected to the handling tool mounting interface 3116. Then, the operator can lift the photovoltaic cleaning robot by gripping the handling tool 700, thereby raising the photovoltaic cleaning robot to a higher height and easily lifting it onto the photovoltaic modules.

[0088] The handling tool 700 may include a connecting rod and a gripping rod connected to a first end of the connecting rod, the connecting rod and the gripping rod being vertically connected. There may be two connecting rods, and the handling tool mounting interface 3116 is a socket formed at the bottom of the walking support device 310, into which the second end of the connecting rod is inserted. The operator can handle the photovoltaic cleaning robot by gripping the gripping rod.

[0089] like Figure 1 , Figure 12 and Figure 13As shown, the photovoltaic cleaning robot disclosed in the embodiment can also include a self-charging photovoltaic assembly 400. The self-charging photovoltaic assembly 400 can be arranged on the main beam 100. When the photovoltaic cleaning robot has a storage battery, the self-charging photovoltaic assembly 400 can be used to charge the storage battery of the photovoltaic cleaning robot, and can also be used to supply power to the electrical equipment of the photovoltaic cleaning robot. When the photovoltaic cleaning robot does not have a storage battery, the self-charging photovoltaic assembly 400 can directly supply power to the electrical equipment of the photovoltaic cleaning robot. Specifically, the storage battery can be inserted into the lumen of the main beam 100, or can be fixed at other positions of the photovoltaic cleaning robot. The self-charging photovoltaic assembly 400 can be fixed on the main beam 100 by a clamp or other fasteners. The specific mounting mode of the storage battery and the self-charging photovoltaic assembly 400 is not limited, as long as the assembly on the photovoltaic cleaning robot can be assembled.

[0090] The photovoltaic cleaning robot with a self-charging assembly cleaning unit can also include a self-charging assembly cleaning unit 500. The self-charging assembly cleaning unit 500 is movably arranged on the self-charging photovoltaic assembly 400 or the main beam 100 along the extension direction of the self-charging photovoltaic assembly 400, so as to clean the self-charging photovoltaic assembly 400. In the embodiment, the self-charging assembly cleaning unit 500 is arranged on the self-charging photovoltaic assembly 400. The self-charging assembly cleaning unit 500 reciprocally moves along the extension direction of the self-charging photovoltaic assembly 400, so as to clean the surface of the self-charging photovoltaic assembly 400, thereby removing the dust on the surface of the self-charging photovoltaic assembly 400, and improving the power generation efficiency of the self-charging photovoltaic assembly 400.

[0091] Specifically, the self-charging assembly cleaning unit 500 can include a moving piece 501, a cleaning piece 503, a first transmission piece 508, a second transmission piece 507, and a self-charging drive motor 506. The moving piece 501 straddles on the self-charging photovoltaic assembly 400. The cleaning piece 503 is arranged on the moving piece 501 and is attached to the self-charging photovoltaic assembly 400, so as to reciprocally move with the moving piece 501 and clean the self-charging photovoltaic assembly 400 in the moving process.

[0092] The first transmission piece 508 is arranged on a first side frame of the self-charging photovoltaic assembly 400. The first side frame is a frame parallel to the extension direction of the self-charging photovoltaic assembly 400 (i.e. the long side of the self-charging photovoltaic assembly 400). The second transmission piece 507 is in transmission cooperation with the first transmission piece 508 and is connected to the moving piece 501.

[0093] The self-charging driving motor 506 is in driving connection with one of the first transmission member 508 and the second transmission member 507 to drive the second transmission member 507 to reciprocate along the first transmission member 508. According to the specific structure of the first transmission member 508 and the second transmission member 507, the self-charging driving motor 506 can drive one of them to rotate, so that the second transmission member 507 can generate linear displacement to drive the moving member 501 to reciprocate.

[0094] Specifically, the first transmission member 508 can be a rack fixed on the first side frame of the self-charging photovoltaic module 400, and the second transmission member 507 can include a gear 5071 engaged with the rack. The self-charging driving motor 506 is in driving connection with the second transmission member 507, and the second transmission member 507 is connected to the moving member 501 through the self-charging driving motor 506, i.e., the self-charging driving motor 506 is connected to the moving member 501, and the second transmission member 507 is connected to the output shaft of the self-charging driving motor 506. The self-charging driving motor 506 drives the second transmission member 507 to rotate, and the second transmission member 507 is engaged with the first transmission member 508, so that the second transmission member 507 can reciprocate along the extension direction of the first transmission member 508 while rotating, thereby driving the moving member 501 to reciprocate.

[0095] In addition, the first transmission member 508 can also be a screw rod rotatably arranged on the first side frame of the self-charging photovoltaic module 400, and the second transmission member 507 is a nut engaged with the screw rod. The self-charging driving motor 506 is arranged on the first side frame of the self-charging photovoltaic module 400 and is in driving connection with the first transmission member 508. The self-charging driving motor 506 drives the first transmission member 508 to rotate, and the second transmission member 507 and the first transmission member 508 form a screw mechanism, so that the second transmission member 507 can reciprocate along the extension direction of the first transmission member 508, thereby driving the moving member 501 to reciprocate.

[0096] In order to improve the reliability of the moving process of the moving member 501, the walking driving device can further include an auxiliary guide mechanism, which includes an auxiliary guide rail 502, an auxiliary driving motor 505, and a guide wheel 504.

[0097] The auxiliary guide rail 502 is arranged on the second side frame of the self-charging photovoltaic module 400, and the first side frame and the second side frame are opposite frames, i.e., the auxiliary guide rail 502 is arranged parallel to the first transmission member 508 and on the frames on both sides of the self-charging photovoltaic module 400.

[0098] The guide wheel 504 is in rolling cooperation with the auxiliary guide rail 502, and the two ends of the moving member 501 extend to the first side frame and the second side frame of the self-charging photovoltaic module 400, respectively. The auxiliary driving motor 505 and the self-charging driving motor 506 are fixed at the two ends of the moving member 501, respectively.

[0099] In the embodiment, the two ends of the moving part 501 are connected with the frames on the two sides of the self-charging photovoltaic module 400 through the guide wheels 504 and the second transmission parts 507, so that the moving part 501 can stably move along the two frames of the self-charging photovoltaic module 400.

[0100] The auxiliary driving motor 505 is in transmission connection with the guide wheel 504, and the guide wheel 504 can be arranged on the output shaft of the auxiliary driving motor 505. The auxiliary driving motor 505 can drive the guide wheel 504 to rotate, and the guide wheel 504 and the auxiliary guide rail 502 rely on the rolling friction force to realize the effect of driving the moving part 501 to move. In the embodiment, driving force can be provided on the two sides of the moving part 501 to realize the movement of the moving part 501, so that the situation that the moving part 501 is skewed and stuck due to the driving force on one side can be avoided. It should be noted that the driving speeds of the auxiliary driving motor 505 and the self-charging driving motor 506 should be the same or close. When the driving speeds on the two sides are different, the guide wheel 504 will slip and idle along the auxiliary guide rail 502 to ensure that the speeds on the two sides are the same.

[0101] It should be noted that the auxiliary driving motor 505 can also not be arranged. In order to ensure the balance of the two ends of the moving part 501, the moving part 501 has the self-charging driving motor 506 at one end, and if the auxiliary driving motor 505 is not arranged at the other end, a counterweight with a corresponding weight can be arranged to ensure the balance of the force.

[0102] Further, the second transmission part 507 can further include a gear 5071 in meshing connection with the rack and limiting wheels 5072 arranged on the upper and lower sides of the gear 5071, and the two limiting wheels 5072 are respectively located on the upper and lower sides of the rack. In the embodiment, the limiting action of the two limiting wheels 5072 can prevent the gear 5071 from being separated from the rack in the direction of gravity, that is, the self-charging driving motor 506 and the moving part 501 are suspended on the self-charging photovoltaic module 400 by using the limiting wheels 5072.

[0103] Similarly, the outer circumferential surface of the guide wheel 504 has a limiting groove recessed in the direction of the axis, and the auxiliary guide rail 502 is matched with the limiting groove. The upper and lower edges of the limiting groove can also prevent the guide wheel 504 from being separated from the limiting groove in the direction of gravity. In this way, when the self-charging photovoltaic module 400 is arranged at a large inclination angle, a larger driving force can still be provided. The self-charging photovoltaic module 400 can be fixed on the main beam 100 by the hoop, or can be fixed on the main beam 100 by other ways.

[0104] Further, the first transmission member 508 is provided with a limiting baffle 509 at both ends. The limiting baffle 509 can limit the moving direction of the second transmission member 507, and prevent the second transmission member 507 from being separated from the first transmission member 508. Normally, the self-charging driving motor 506 drives the moving member 501 and the cleaning member 503 to reciprocate, and cleans the self-charging photovoltaic module 400. When the second transmission member 507 reaches the limiting baffle 509, the torque of the self-charging driving motor 506 increases due to the increased resistance, the control system determines that the limit position is reached, and controls the self-charging driving motor 506 to reverse rotation, so as to return reversely.

[0105] The cleaning member 503 can be composed of a support member and a cleaning element arranged on the support member. The cleaning element can be silica gel or a brush. The support member can be provided with multiple rows of holes or waist holes. Different positions of the holes or waist holes at different heights are connected by fasteners to be fixed on the moving member 501, so that the height of the cleaning member 503 can be adjusted to control the compression amount of the cleaning element, and thus the best cleaning effect can be obtained.

[0106] As shown in the present application and claims, unless the context clearly indicates otherwise, the words "one", "an", "a", and / or "the" do not mean to specify a single number, but also can include a plurality. Generally, the terms "comprise" and "include" only indicate that the steps and elements explicitly identified are included, and these steps and elements do not constitute an exclusive list. The element defined by the statement "comprise a" does not exclude the presence of another same element in the process, method, product or device comprising the element.

[0107] In the description of the present application, unless otherwise explicitly limited, the words such as setting, installing, connecting, etc. should be understood in a broad sense, and the person skilled in the art can reasonably determine the specific meaning of the above words in the present application in combination with the specific content of the technical solution.

[0108] The various embodiments in the specification are described in a progressive manner, and each embodiment focuses on the difference from other embodiments. The same or similar parts between various embodiments can be referred to each other.

[0109] The principle and implementation mode of the present application are described by using specific examples. The above description of the embodiments is only used to help understand the method and core idea of the present application. It should be pointed out that, for the person skilled in the art, without departing from the principle of the present application, the present application can be improved and modified in many ways. These improvements and modifications also fall within the protection scope of the claims of the present application.

Claims

1. A walking support device characterized by comprising: A photovoltaic cleaning robot comprises: A walking wheel support body (311) having a first rolling brush support hole (3111) and walking wheel support holes arranged on both sides of the first rolling brush support hole (3111); A main beam support body (312) having a second rolling brush support hole (3122), one of the walking wheel support body (311) and the main beam support body (312) is provided with a torsion slot (3114) coaxially arranged with the first rolling brush support hole (3111) and the second rolling brush support hole (3122), and the other is provided with a second torsion angle limiting part (3121) embedded in the torsion slot (3114) and rotationally matched with the torsion slot (3114), and the first torsion angle limiting part (3115) is located on the rotation path of the second torsion angle limiting part (3121).

2. The walking support device according to claim 1, wherein The first torsion angle limiting part (3115) is two and symmetrically arranged in the torsion slot (3114); When the second torsion angle limiting part (3121) abuts against one of the first torsion angle limiting parts (3115), the main beam support body (312) swings to the first boundary, and when the second torsion angle limiting part (3121) abuts against the other first torsion angle limiting part (3115), the main beam support body (312) swings to the second boundary.

3. The walking support device according to claim 2, wherein The second torsion angle limiting part (3121) is two and symmetrically arranged along the second rolling brush support hole (3122); When one of the second torsion angle limiting parts (3121) abuts against one of the first torsion angle limiting parts (3115), the other second torsion angle limiting part (3121) abuts against the other first torsion angle limiting part (3115).

4. The walking support device according to claim 2, wherein The walking wheel support hole includes a first walking wheel hole (3112) for mounting a first walking wheel (320a), the first walking wheel (320a) is a walking wheel arranged on the upper surface of a photovoltaic module (800), and the center line of the two first walking wheel holes (3112) is a first center line; The main beam support body (312) is provided with a main beam support hole (3123) for supporting a main beam, the center line of the main beam support hole (3123) and the second rolling brush support hole (3122) is a second center line, and when the first center line is perpendicular to the second center line, the second torsion angle limiting part (3121) is located between the two first torsion angle limiting parts (3115).

5. The walking support device according to any one of claims 1 to 4, wherein The first torsion angle limiting part (3115) and the second torsion angle limiting part (3121) are both sector blocks; The planes where the two side edges of the first torsion angle limiting part (3115) are located both pass through the axis of the first rolling brush support hole (3111). The two side edges of the second torsion angle limiting part (3121) are located on a plane passing through the axis of the second roller brush supporting hole (3122).

6. A photovoltaic cleaning robot, characterized in that The utility model relates to a cleaning robot, and particularly relates to a photovoltaic cleaning robot. The main beam (100); The walking wheel system (300) comprises a first walking mechanism and a second walking mechanism arranged at two ends of the main beam (100) respectively, and the first walking mechanism and the second walking mechanism each comprise a walking support device (310) and a walking wheel arranged on the walking support device (310), and the walking support device (310) of one of the first walking mechanism and the second walking mechanism is the walking support device (310) as claimed in any one of claims 1-5. The cleaning assembly (200) is supported on the walking support devices (310) of the first walking mechanism and the second walking mechanism.

7. The photovoltaic cleaning robot of claim 6, wherein, The bottom of the walking support device (310) is provided with a carrying tool mounting interface (3116) for connecting a carrying tool (700).

8. The photovoltaic cleaning robot of claim 7, wherein, The carrying tool (700) comprises a connecting rod body and a gripping rod body connected to a first end of the connecting rod body. The carrying tool mounting interface (3116) is a jack in the bottom of the walking support device (310), and a second end of the connecting rod body is inserted into the jack.

9. The photovoltaic cleaning robot of claim 6, wherein, The utility model also comprises a self-charging photovoltaic assembly (400) arranged on the main beam (100) for supplying power and / or charging the photovoltaic cleaning robot.

10. The photovoltaic cleaning robot of claim 9, wherein, The utility model also comprises a self-charging assembly cleaning unit (500) movably arranged on the self-charging photovoltaic assembly (400) or the main beam (100) along the extension direction of the self-charging photovoltaic assembly (400) to clean the self-charging photovoltaic assembly (400).

11. The photovoltaic cleaning robot of claim 10, wherein, The self-charging assembly cleaning unit (500) comprises: A moving part (501) straddling the self-charging photovoltaic assembly (400); A cleaning part (503) arranged on the moving part (501) and attached to the self-charging photovoltaic assembly (400); A first transmission part (508) arranged on a first side frame of the self-charging photovoltaic assembly (400); A second transmission part (507) in transmission cooperation with the first transmission part (508) and connected to the moving part (501); A self-charging drive motor (506) in transmission connection with one of the first transmission part (508) and the second transmission part (507) to drive the second transmission part (507) to reciprocate along the first transmission part (508).

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