Walking wheel and photovoltaic cleaning robot

Abstract

The utility model discloses a walking wheel and a photovoltaic cleaning robot, and the walking wheel comprises a core part which comprises a wheel surface supporting body which is driven by a walking driving motor to rotate; and the walking wheel surface body is detachably arranged on the wheel surface supporting body in a sleeving manner and is in torque connection with the wheel surface supporting body. The walking wheel face body is detachably arranged on the wheel face supporting body in a sleeved mode, the torque of the walking driving motor is transmitted to the walking wheel face body through the wheel face supporting body so as to drive the walking wheel face body to rotate, the walking wheel face body is matched with a photovoltaic assembly in a rolling mode, and the effect of driving the photovoltaic cleaning robot to walk is achieved. Due to the fact that the walking wheel face body is detachably assembled, after the walking wheel face body is abraded, only the walking wheel face body can be replaced, the core body piece which is not prone to abrasion does not need to be replaced, namely the whole walking wheel does not need to be replaced, and operation and maintenance cost is reduced.

Description

TECHNICAL FIELD

[0001] The utility model relates to photovoltaic cleaning robot technical field more specifically, relate to a walking wheel 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, can plan cleaning path autonomously. They use specific brush and other cleaning devices, can easily remove the dirt on the surface of photovoltaic panel, ensure the efficient power generation of photovoltaic panel.

[0003] The walking wheel of photovoltaic cleaning robot belongs to the vulnerable part, therefore needs to replace regularly or according to the wear degree. The walking wheel usually needs to be replaced integrally when replacing, and the operation and maintenance cost is higher.

[0004] Therefore, how to reduce the operation and maintenance cost of replacing the worn walking wheel is a problem to be solved by the person skilled in the art. UTILITY MODEL CONTENTS

[0005] Therefore, the purpose of the utility model is to provide a walking wheel to reduce the operation and maintenance cost of replacing the worn walking wheel.

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

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

[0008] A walking wheel for photovoltaic cleaning robot, comprising:

[0009] The core body part comprises a wheel surface support body, which is driven to rotate by a walking drive motor.

[0010] The walking wheel surface body is detachably sleeved on the wheel surface support body and is torque-connected with the wheel surface support body.

[0011] Optionally, in the above walking wheel, the core body part further comprises a shaft body part, one end of the shaft body part is a support mounting end, the other end is a walking mounting end, the wheel surface support body is sleeved on the walking mounting end and is coaxial and rotationally matched with the shaft body part.

[0012] Optionally, in the above walking wheel, the wheel surface support body comprises an annular support part, the annular support part is rotatably sleeved on the walking mounting end, and the walking wheel surface body is sleeved on the annular support part.

[0013] Optionally, in the above walking wheel, the wheel surface support body further comprises a first side support and a second side support, and the annular support is rotatably sleeved on the walking mounting end through the first side support and the second side support.

[0014] The first side support and the second side support are arranged at intervals and are in rotational cooperation with the shaft body, one end of the annular support is fixed to the first side support, and the other end is fixed to the second side support.

[0015] Optionally, in the above walking wheel, the two ends of the walking wheel surface body are limited on the annular support through a first limiting part and a second limiting part, respectively, and at least one of the first limiting part and the second limiting part is detachably arranged.

[0016] Optionally, in the above walking wheel, one of the first limiting part and the second limiting part is arranged on the first side support, and the other is arranged on the second side support; or,

[0017] One of the first limiting part and the second limiting part is arranged on the first side support or the second side support, and the other is arranged on the annular support; or,

[0018] Both the first limiting part and the second limiting part are arranged on the annular support.

[0019] Optionally, in the above walking wheel, an end surface of one of the first side support and the second side support located at the end of the shaft body is provided with a connecting interface for connecting with other walking wheels.

[0020] Optionally, in the above walking wheel, the shaft body is a cylindrical structure, the walking driving motor is arranged in the shaft body, and an output shaft of the walking driving motor is connected with one of the first side support and the second side support located at the end of the shaft body.

[0021] Optionally, in the above walking wheel, a first sealing member is arranged at the connection between the annular support and the first side support and the second side support; and / or,

[0022] Both the first side support and the second side support are rotatably supported on the shaft body through bearings, the first side support is arranged at the end of the shaft body, and an end surface of the first side support away from the support mounting end is a closed end surface, a second sealing member is arranged at the connection between the second side support and the shaft body, and the bearing on the second side support is located on the side of the second sealing member away from the support mounting end.

[0023] Optionally, in the above walking wheel, the wheel surface support body is an integral structure, and at least one end of the wheel surface support body is provided with a transmission part in transmission connection with the walking driving motor.

[0024] Optionally, in the above walking wheel, two ends of the walking wheel surface body are limited on the wheel surface support body through a third limiting part and a fourth limiting part respectively, and at least one of the third limiting part and the fourth limiting part is detachably arranged.

[0025] Optionally, in the above walking wheel, one end of the walking wheel surface body is sleeved into the wheel surface support body; or,

[0026] The walking wheel surface body is composed of a plurality of wheel surface parts in the circumferential direction, and each wheel surface part is fixed on the wheel surface support body in the radial direction of the wheel surface support body.

[0027] Optionally, in the above walking wheel, the walking wheel surface body is in torque connection with the wheel surface support body through a guide part assembly or a key, the guide part assembly comprises a first guide part arranged on the outer circumferential surface of the wheel surface support body and extending in the axial direction, and a second guide part arranged on the inner wall of the walking wheel surface body and in sliding connection with the first guide part; and / or,

[0028] The walking wheel surface body is composed of a plurality of segments in the axial direction.

[0029] The walking wheel provided by the utility model is installed on the corresponding position of the photovoltaic cleaning robot through the core body, and the torque of the walking driving motor is transmitted to the walking wheel surface body through the wheel surface support body to drive the walking wheel surface body to rotate. When the photovoltaic cleaning robot walks, the walking wheel surface body is in contact with the photovoltaic module, and therefore is more prone to wear. The walking wheel surface body is detachably sleeved on the wheel surface support body, so that the walking wheel surface body is in rolling connection with the photovoltaic module, the effect of driving the photovoltaic cleaning robot to walk is achieved, and since the walking wheel surface body is detachably assembled, the walking wheel surface body can be replaced only when the walking wheel surface body is worn, and the core body which is not prone to wear does not need to be replaced, that is, the whole walking wheel does not need to be replaced, and the operation and maintenance cost is reduced.

[0030] A photovoltaic cleaning robot comprises:

[0031] A support main beam;

[0032] The walking wheel system comprises a first walking mechanism and a second walking mechanism arranged at two ends of the support main beam respectively, the first walking mechanism and the second walking mechanism each comprise a first walking wheel and a second walking wheel, the first walking wheel is a walking wheel arranged on the upper surface of the photovoltaic module, the second walking wheel is a walking wheel arranged on the side surface of the photovoltaic module, and at least one of the first walking wheel and the second walking wheel is the walking wheel according to any one of the above.

[0033] The cleaning assembly is supported between the first walking mechanism and the second walking mechanism.

[0034] Optionally, in the photovoltaic cleaning robot, the cleaning assembly comprises:

[0035] A cleaning roller brush;

[0036] A cleaning driving device is arranged on one of the first walking mechanism and the second walking mechanism, an output shaft of the cleaning driving device is in transmission connection with one end of the cleaning roller brush through a first universal joint, and the output shaft of the cleaning driving device is coaxially arranged with the cleaning roller brush.

[0037] A roller brush connecting shaft is rotatably arranged on the other one of the first walking mechanism and the second walking mechanism, and the roller brush connecting shaft is in transmission connection with the other end of the cleaning roller brush through a second universal joint.

[0038] Optionally, in the photovoltaic cleaning robot, the inner wall of the support main beam is provided with a plurality of cleaning liquid pipelines extending along the axial direction of the support main beam, the support main beam has a spray head interface communicating with the cleaning liquid pipelines and penetrating the side wall, and the spray head interface is connected with a cleaning liquid spray head; and / or,

[0039] The outer wall of the support main beam is provided with a limiting fixing groove extending in the axial direction, and the limiting fixing groove is used for cooperating with a limiting rotation-stopping convex rib on a hoop connected with other components.

[0040] Optionally, in the photovoltaic cleaning robot, the support main beam is provided with a containing cavity, and the containing cavity is provided with a storage battery and / or a control system.

[0041] Optionally, in the photovoltaic cleaning robot, further comprising:

[0042] A self-charging assembly is arranged on the support main beam and used for supplying power and / or charging for the photovoltaic cleaning robot;

[0043] A self-charging assembly cleaning unit is movably arranged on the self-charging assembly or the support main beam along the extension direction of the self-charging assembly to clean the self-charging assembly.

[0044] The photovoltaic cleaning robot provided by the utility model has all the technical effects of the walking wheel, and the technical effects of the walking wheel will not be repeated here. BRIEF DESCRIPTION OF DRAWINGS

[0045] In order to more clearly illustrate the technical scheme in the embodiments of the utility model or the prior art, the drawings needed to be used in the embodiments or the prior art description will be briefly introduced as follows. Obviously, the drawings in the following description are only some embodiments of the utility model, and other drawings can be obtained by those skilled in the art without creative labor on the basis of the drawings.

[0046] Figure 1 The structure schematic diagram of the photovoltaic cleaning robot disclosed by the utility model embodiment is shown in the figure.

[0047] Figure 2 The left view of the photovoltaic cleaning robot disclosed by the utility model embodiment is shown in the figure.

[0048] Figure 3 The right view of the photovoltaic cleaning robot disclosed by the utility model embodiment is shown in the figure.

[0049] Figure 4 The front view of the walking wheel disclosed by the utility model embodiment is shown in the figure.

[0050] Figure 5 The Figure 4 The sectional view along the line A-A is shown in the figure.

[0051] Figure 6 The structure schematic diagram of the walking wheel surface body and the annular support piece of the walking wheel disclosed by the utility model embodiment is shown in the figure.

[0052] Figure 7 The exploded view of the walking wheel disclosed by the utility model embodiment is shown in the figure.

[0053] Figure 8 The exploded view of the walking wheel disclosed by another utility model embodiment is shown in the figure.

[0054] Figure 9 The sectional view of the walking wheel disclosed by another utility model embodiment is shown in the figure.

[0055] Figure 10 The installation structure schematic diagram of the walking wheel disclosed by another utility model embodiment is shown in the figure.

[0056] Figure 11 The sectional view of the photovoltaic cleaning robot disclosed by the utility model embodiment is shown in the figure.

[0057] Figure 12 The exploded view of the photovoltaic cleaning robot disclosed by the utility model embodiment is shown in the figure.

[0058] Figure 13 This is a schematic diagram of the structure of the storage battery disclosed in an embodiment of the present utility model;

[0059] Figure 14 This is a schematic diagram of the cleaning drive device disclosed in an embodiment of the present utility model;

[0060] Figure 15 This is a partial structural schematic diagram of the photovoltaic cleaning robot disclosed in an embodiment of the present utility model;

[0061] Figure 16 This is a partial structural schematic diagram of the supporting main beam disclosed in an embodiment of the present utility model;

[0062] Figure 17 This is a side view of the supporting main beam disclosed in an embodiment of this utility model.

[0063] The meanings of the various reference numerals in the figure are as follows:

[0064] 100-Main support beam; 101-Cleaning fluid nozzle; 102-Nozzle interface; 103-Cleaning fluid pipeline; 104-Limiting and fixing groove;

[0065] 200-Sweeping assembly; 210-Sweeping roller brush; 220-Sweeping drive unit; 221-Sweeping drive motor; 222-Motor support; 223-First universal joint; 230-Roller brush connecting shaft;

[0066] 300-Walking wheel system; 310-Walking support device; 311-Walking wheel support body; 312-Main beam support body; 313-Roller bearing; 314-Roller bearing seat; 320-Walking wheel; 320a-First walking wheel; 320b-Second walking wheel; 321-Walking drive motor; 322-Shaft component; 323-Walking wheel surface; 3231-Second guide part; 324-First side support component; 3241-Connecting interface; 325-Second side support component; 3251-First limiting part; 326-Annular support component; 327-Second limiting part; 328-Bearing; 3200-Wheel surface support body; 3201-First guide part; 3202-Third limiting part; 330-Fourth limiting part;

[0067] 400-Self-charging component;

[0068] 500-Self-charging component cleaning unit;

[0069] 600 - Storage battery; 610 - Battery body; 611 - Groove; 620 - Mounting plate. Detailed Implementation

[0070] The core of this utility model is to provide a walking wheel to reduce the maintenance cost of replacing the walking wheel after it wears out;

[0071] The utility model discloses another core provides a kind of photovoltaic cleaning robot with the above-mentioned walking wheel.

[0072] 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 what is necessary as a solution to the utility model recited in the claims. It should be noted that, for ease 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.

[0073] As Figures 4-10 shown, the utility model embodiment discloses walking wheel 320 includes core body piece and walking wheel surface body 323. Wherein, core body piece is used to realize the installation of this walking wheel 320, specifically, core body piece is fixed on the walking support device of walking mechanism, or core body piece is connected to the output end of driving device, and then realizes the installation of walking wheel 320 on walking mechanism.

[0074] Core body piece includes wheel surface support body 3200, and wheel surface support body 3200 is rotated by walking drive motor 321, and walking wheel surface body 323 is detachably sleeved on wheel surface support body 3200. When photovoltaic cleaning robot operates, walking wheel surface body 323 contacts the frame of photovoltaic module, and then its wear speed is necessarily faster than other parts. The walking wheel surface body 323 of the embodiment is sleeved on the wheel surface support body 3200, and is detachably connected, so that walking wheel surface body 323 can be replaced individually according to the wear condition, and the whole walking wheel 320 does not need to be replaced.

[0075] The walking wheel 320 disclosed in the utility model embodiment is mounted on the corresponding position of the photovoltaic cleaning robot through the core body piece thereof, and the torque of the walking drive motor 321 is transmitted to the walking wheel surface body 323 through the wheel surface support body 3200 to drive the walking wheel surface body 323 to rotate. When the photovoltaic cleaning robot walks, the walking wheel surface body 323 contacts the photovoltaic module, and thus is more easily worn. The walking wheel surface body 323 is detachably sleeved on the core body piece in the utility model, so that the walking wheel surface body 323 is rolling matched with the photovoltaic module, and the effect of driving the photovoltaic cleaning robot to walk is achieved. Since the walking wheel surface body 323 is detachably assembled, the walking wheel surface body 323 can be replaced after being worn, and the shaft body piece 322 that is not easily worn does not need to be replaced, that is, the whole walking wheel 320 does not need to be replaced, and the operation and maintenance cost is reduced.

[0076] As Figures 4-7As shown, in a specific embodiment of the present application, the core member can include a shaft member 322, one end of the shaft member 322 is a support mounting end, and the other end is a walking mounting end. The support mounting end is used to realize the installation of the walking wheel 320, and specifically the support mounting end of the shaft member 322 is fixed on the walking support device of the walking mechanism, and then the installation of the walking wheel 320 on the walking mechanism is realized.

[0077] The wheel surface support body 3200 is detachably sleeved on the walking mounting end, that is, only the wheel surface support body 3200 and the walking wheel surface body 323 are mounted on the walking mounting end, and the support mounting end is not mounted with the wheel surface support body 3200 and the walking wheel surface body 323, so that the support mounting end protrudes outside the wheel surface support body 3200 and the walking wheel surface body 323, facilitating the fixing of the support mounting end on the walking support device of the walking mechanism, and then facilitating the installation of the walking wheel 320.

[0078] The wheel surface support body 3200 is coaxial with the shaft member 322 and is rotationally matched, that is, when the walking wheel is running, the wheel surface support body 3200 and the walking wheel surface body 323 rotate relative to the shaft member 322, the walking wheel surface body 323 can be driven to rotate, and the shaft member 322 can be used as a support main body and does not rotate with the walking wheel surface body 323.

[0079] The wheel surface support body 3200 can include an annular support member 326, the annular support member 326 is rotatably sleeved on the walking mounting end, and the walking wheel surface body 323 is sleeved on the annular support member 326. In order to ensure that the walking wheel surface body 323 has a larger outer diameter, in the present embodiment, the wheel surface support body 3200 can further include a first side surface support member 324 and a second side surface support member 325.

[0080] One end of the annular support member 326 is fixed to the first side surface support member 324, and the other end is fixed to the second side surface support member 325. Specifically, the two ends of the annular support member 326 can be fixed to the first side surface support member 324 and the second side surface support member 325 respectively through fasteners. The walking wheel surface body 323 is sleeved on the annular support member 326. In the present embodiment, the annular support member 326 is arranged in the suspended part between the first side surface support member 324 and the second side surface support member 325, and the walking wheel surface body 323 is supported by the annular support member 326, which can provide more reliable support force for the walking wheel surface body 323, improve the service life of the walking wheel surface body 323, and prevent the walking wheel surface body 323 from being easily broken or deformed due to insufficient support force in the suspended part.

[0081] The first side support 324 and the second side support 325 are arranged at intervals. One end of the annular support 326 can be supported on the first side support 324, and the other end can be supported on the second side support 325. By setting the first side support 324 and the second side support 325, the outer diameter of the walking wheel surface 323 can be larger than that of the axle 322, ensuring that the walking wheel 320 moves more smoothly.

[0082] Both the first side support 324 and the second side support 325 are rotatably engaged with the shaft 322. If the walking wheel 320 has an active walking function, one of the first side support 324 and the second side support 325 can be driven to rotate by the walking drive motor 321, thereby causing the walking wheel surface 323 to rotate and achieving the walking function. If the walking wheel 320 has a passive walking function, there is no need to configure the walking drive motor 321; when in contact with the frame of the photovoltaic module, the walking wheel surface 323 rotates due to friction.

[0083] When installing the wheel surface 323, one end of the annular support 326 can be inserted into the annular support 326. Alternatively, the wheel surface 323 can be composed of multiple wheel surfaces along the circumferential direction, with each wheel surface being fixed to the annular support 326 in sequence along the radial direction. For example, the wheel surface 323 can be composed of two semi-circular wheel surfaces, which are attached to the annular support 326 radially and then fixed to the annular support 326 by clamps or fasteners.

[0084] Since the wear degree of the walking wheel surface 323 varies at different positions along the axial direction, replacing the entire walking wheel surface 323 would increase the operation and maintenance cost. In this embodiment, the walking wheel surface 323 can also be divided into multiple segments along the axial direction. According to the wear degree, the corresponding segment can be replaced, without replacing the entire walking wheel surface 323, thus reducing the operation and maintenance cost.

[0085] The wheel tread body 323 can be torque-connected to the wheel support body 3200 via a guide assembly or a key. The guide assembly may include a first guide portion 3201 and a second guide portion 3231. The above torque transmission method is applicable to… Figure 6 and Figure 8 The proposed solution is shown. Figure 6As an example, in order to transmit the torque to the walking wheel body 323 through the annular support 326, in the embodiment, the outer circumferential surface of the annular support 326 is provided with a first guide part 3201 extending in the axial direction, and the inner wall of the walking wheel body 323 is provided with a second guide part 3231 in sliding fit with the first guide part 3201. The first guide part 3201 and the second guide part 3231 are in concave-convex fit, one of the first guide part 3201 and the second guide part 3231 is a convex rib, and the other is a sliding groove. By using the fit of the convex rib and the sliding groove, the torque of the annular support 326 can be transmitted to the walking wheel body 323. In addition, the first guide part 3201 and the second guide part 3231 both extend in the axial direction, so when the walking wheel body 323 is installed, only the second guide part 3231 on the walking wheel body 323 needs to be aligned with the first guide part 3201 on the annular support 326, and then the walking wheel body 323 can be pushed into by one end of the annular support 326.

[0086] It should be noted that the walking wheel body 323 can also be connected in torque with the wheel surface support body 3200 through a key, that is, key grooves are provided on the walking wheel body 323 and the wheel surface support body 3200, and the torque is transmitted by inserting a key into the key grooves.

[0087] Further, the two ends of the walking wheel body 323 are limited on the annular support 326 by a first limiting part 3251 and a second limiting part 327 respectively, and at least one of the first limiting part 3251 and the second limiting part 327 is detachably provided. For example, one of the first limiting part 3251 and the second limiting part 327 can be provided on the first side surface support 324, and the other can be provided on the second side surface support 325; one of the first limiting part 3251 and the second limiting part 327 can be provided on the first side surface support 324 or the second side surface support 325, and the other can be provided on the annular support 326; or both the first limiting part 3251 and the second limiting part 327 can be provided on the annular support 326. The embodiment does not limit the specific positions of the first limiting part 3251 and the second limiting part 327, as long as the axial movement of the walking wheel body 323 can be limited after the walking wheel body 323 is installed.

[0088] In this way Figure 5The shown scheme is an example, the first limiting part 3251 is a part of the second side support 325, and the first limiting part 3251 is located on the side of the second side support 325 away from the first side support 324. When the walking wheel surface body 323 is installed, it is pushed in from one side of the first side support 324 until the walking wheel surface body 323 abuts against the first limiting part 3251 of the second side support 325. Then the second limiting part 327 is clamped on the annular support 326. That is, in the embodiment, the second limiting part 327 can be a check ring, and the annular support 326 can be provided with a check ring clamping groove for clamping the second limiting part 327. After the second limiting part 327 is assembled on the annular support 326, the second limiting part 327 abuts against the end surface of the walking wheel surface body 323.

[0089] In an embodiment of the utility model, the connection between the annular support 326 and the first side support 324 and the second side support 325 is provided with a first sealing element to prevent dust from entering the interior through the connection between the annular support 326 and the first side support 324 and the second side support 325.

[0090] The first side support 324 and the second side support 325 are rotatably supported on the shaft body 322 through bearings 328, the first side support 324 is arranged at the end of the shaft body 322, and the end surface of the first side support 324 away from the support installation end is a closed end surface, so dust cannot enter the interior through the position where the first side support 324 is connected with the shaft body 322.

[0091] The connection between the second side support 325 and the shaft body 322 is provided with a second sealing element, and the bearing 328 on the second side support 325 is located on the side of the second sealing element away from the support installation end. The second sealing element can prevent dust from entering the interior through the connection between the second side support 325 and the shaft body 322. Specifically, the first sealing element can be an O-shaped sealing ring, and the second sealing element can be a skeleton oil seal. The specific type of the first sealing element and the second sealing element is not limited in the embodiment, as long as it can prevent dust from entering. In the embodiment, the sealing of the first sealing element and the second sealing element can ensure that the bearing 328 in the interior is in a completely sealed state, thereby improving the operating life.

[0092] In a specific embodiment of the utility model, the shaft body 322 is a cylinder structure, the walking driving motor 321 is arranged in the shaft body 322, and the inside of the shaft body 322 can be provided with a flange for mounting the walking driving motor 321 to realize the mounting of the walking driving motor 321. The output shaft of the walking driving motor 321 is connected with one of the first side support 324 and the second side support 325 located at the end of the shaft body 322. In the embodiment, the first side support 324 is located at the end of the shaft body 322, and the output shaft of the walking driving motor 321 is connected with the first side support 324 to drive the first side support 324 to rotate. The output shaft of the walking driving motor 321 and the first side support 324 can realize torque transmission through key matching, concave-convex matching and the like.

[0093] The first side support 324 is connected with the annular support 326, the annular support 326 is connected with the second side support 325 and the walking wheel surface body 323, so that the first side support 324, the second side support 325, the annular support 326 and the walking wheel surface body 323 rotate synchronously. In the embodiment, the walking driving motor 321 is arranged in the inside of the shaft body 322, the installation space can be saved to the maximum, and better external protection can be realized, so that the long-term operation life is improved.

[0094] As shown in Figure 7 , the end surface of one of the first side support 324 and the second side support 325 located at the end of the shaft body 322 is provided with a connecting interface 3241 (for example, the connecting interface 3241 is arranged on the end surface of the first side support 324), and the connecting interface 3241 is used for connecting with other walking wheels.

[0095] As shown in Figures 8-10 , in another embodiment of the utility model, the wheel surface support 3200 is an integral structure, and the wheel surface support 3200 can be directly connected with the output end of the walking driving motor, so that the walking driving motor can drive the wheel surface support 3200 to rotate.

[0096] The walking wheel surface body 323 can be limited on the wheel surface support 3200 in the circumferential direction, so that the walking wheel surface body 323 rotates synchronously with the wheel surface support 3200. The walking wheel surface body 323 can also be connected with the wheel surface support 3200 in torque through the guide part assembly or the key, and the specific details can be referred to the above embodiment, which will not be described here.

[0097] In order to realize the transmission connection between the wheel surface support body 3200 and the walking driving motor, a transmission part is arranged at least one end of the wheel surface support body 3200 and is in transmission connection with the walking driving motor 321. For example, a transmission shaft hole can be arranged on the wheel surface support body 3200, the output shaft of the walking driving motor can be inserted into the transmission shaft hole, and torque transmission can be realized through a key or the like transmission part.

[0098] When the walking wheel surface body 323 is installed, the installation mode of the walking wheel surface body 323 on the annular support 326 disclosed in the above embodiment can be referred to. For example, the walking wheel surface body 323 can be sleeved into the wheel surface support body 3200 from one end of the wheel surface support body 3200; the walking wheel surface body 323 can also be composed of a plurality of wheel surface parts in the circumferential direction, and each wheel surface part is fixed on the wheel surface support body 3200 in the radial direction of the wheel surface support body 3200 in sequence. For example, the walking wheel surface body 323 can be composed of two semicircular wheel surface parts, the two semicircular wheel surface parts are attached to the wheel surface support body 3200 in the radial direction, and then can be fixed on the wheel surface support body 3200 through a hoop or a fastener.

[0099] Since the wearing degrees of the walking wheel surface body 323 at different positions in the axial direction are different, if the walking wheel surface body 323 is replaced as a whole, the operation and maintenance cost will also increase. In the embodiment, the walking wheel surface body 323 can also be composed of a plurality of segments in the axial direction, and according to the wearing degree, a corresponding segment can be replaced, without the need to replace the walking wheel surface body 323 as a whole, thereby reducing the operation and maintenance cost.

[0100] The two ends of the walking wheel surface body 323 can be limited on the wheel surface support body 3200 through the third limiting part 3202 and the fourth limiting part 330, and at least one of the third limiting part 3202 and the fourth limiting part 330 is arranged to be detachable. For example, the third limiting part 3202 and the fourth limiting part 330 can be detachably fixed on the wheel surface support body 3200; or one of the third limiting part 3202 and the fourth limiting part 330 can be detachably fixed on the wheel surface support body 3200, and the other is designed as an integral structure with the annular support 326. Figure 8 In the shown scheme, the third limiting part 3202 is located at the first end of the wheel surface support body 3200 and is an integral structure with the wheel surface support body 3200, and the fourth limiting part 330 is fixed on the second end of the wheel surface support body 3200 through a fastener.

[0101] The specific arrangement position and form of the third limiting part 3202 and the fourth limiting part 330 are not limited in the embodiment, as long as the axial movement of the walking wheel surface body 323 can be limited after the walking wheel surface body 323 is installed.

[0102] As Figures 1-3As shown, the utility model embodiment further discloses a photovoltaic cleaning robot, the photovoltaic cleaning robot includes support main beam 100, walking wheel system 300 and cleaning assembly 200. Among them, walking wheel system 300 includes the first walking mechanism and the second walking mechanism of setting up respectively in the both ends of support main beam 100, and the first walking mechanism and the second walking mechanism all include first walking wheel 320a and second walking wheel 320b, and first walking wheel 320a is the walking wheel for being arranged on the upper surface of photovoltaic module, and second walking wheel 320b is the walking wheel for being arranged in the side of photovoltaic module, and at least one of first walking wheel 320a and second walking wheel 320b is the walking wheel disclosed in the above embodiment. That is to say, in the embodiment, one of first walking wheel 320a and second walking wheel 320b can be designed as the walking wheel disclosed in the above embodiment, and first walking wheel 320a and second walking wheel 320b can also be designed as the walking wheel disclosed in the above embodiment.

[0103] Cleaning assembly 200 is supported between the first walking mechanism and the second walking mechanism. During the walking of the photovoltaic cleaning robot along the photovoltaic module, the cleaning assembly 200 cleans the surface of the photovoltaic module passed by to wipe off the dust deposited on the surface of the photovoltaic module. The photovoltaic cleaning robot provided by the utility model has all the technical effects of the above-mentioned walking wheel, and details are not repeated here.

[0104] As shown in Figure 11 and Figure 14 In the embodiment, the cleaning assembly 200 includes a cleaning roller brush 210, a cleaning driving device 220, and a roller brush connecting shaft 230. The cleaning roller brush 210 can clean the photovoltaic module by rotating. The cleaning driving device 220 is arranged on one of the first walking mechanism and the second walking mechanism. An output shaft of the cleaning driving device 220 is in transmission connection with one end of the cleaning roller brush 210 through a first universal joint 223, and the output shaft of the cleaning driving device 220 is coaxially arranged with the cleaning roller brush 210.

[0105] It should be noted that the cleaning assembly 200 and the first walking wheel 320a can share a driving device, that is, the walking driving motor of the first walking wheel 320a on one side and the cleaning driving device 220 can be the same driving device, and power is transmitted to the first walking wheel 320a and the cleaning roller brush 210 through a transmission member. In addition, the cleaning assembly 200 and the first walking wheel 320a can also be independently arranged with independent driving devices to independently drive operation.

[0106] In the embodiment, the cleaning driving device 220 can include a cleaning driving motor 221 and a motor support 222 arranged on a motor shell of the cleaning driving motor 221, and a first universal joint 223 is arranged on a motor shaft of the cleaning driving motor 221. During installation, the motor support 222 can be fixed on one of the first walking mechanism and the second walking mechanism by fasteners.

[0107] The roll brush connecting shaft 230 is rotatably arranged on the other one of the first walking mechanism and the second walking mechanism, and specifically, is supported on the other one of the first walking mechanism and the second walking mechanism by a roll brush bearing seat 314 and a roll brush bearing 313, so that the roll brush connecting shaft 230 can rotate. The roll brush connecting shaft 230 is in transmission connection with the other end of the cleaning roll brush 210 through a second universal joint. In the embodiment, the cleaning driving device 220 is coaxially arranged with the cleaning roll brush 210, which simplifies the structure of the cleaning assembly 200.

[0108] As shown in Figure 2 and Figure 3 , the first walking mechanism and the second walking mechanism each have a walking support device 310 for supporting the walking wheels, the cleaning assembly 200 and the support main beam 100. The walking support devices 310 of the first walking mechanism and the second walking mechanism can be designed to be different. For example, the walking support device 310 of the first walking mechanism can be designed as an integrated structure, and the walking support device 310 of the second walking mechanism can be designed as a split structure, for example, can include a walking wheel support body 311 for supporting the walking wheels and the cleaning assembly 200 and a main beam support body 312 for mounting the support main beam 100, and the main beam support body 312 is in rotation connection with the walking wheel support body 311, so that the first walking mechanism and the second walking mechanism on both sides can walk on the photovoltaic assembly which is not in the same plane.

[0109] The photovoltaic cleaning robot is usually configured with a water washing function, and an externally arranged water washing pipeline is used to spray cleaning liquid on the photovoltaic assembly to achieve the cleaning purpose. In the prior art, the externally arranged water washing pipeline is easily damaged due to long-term exposure to ultraviolet rays.

[0110] As shown in Figures 15-17 , in a specific embodiment of the utility model, the inner wall of the support main beam 100 is provided with a plurality of cleaning liquid pipelines 103 extending along the axial direction of the support main beam 100, the support main beam 100 has a spray head interface 102 in communication with the cleaning liquid pipeline 103 and penetrating through the side wall, and the spray head interface 102 is connected with a cleaning liquid spray head 101. After the cleaning liquid pipeline 103 is connected with the cleaning liquid, the support main beam 100 can perform water washing or other cleaning agent cleaning on the photovoltaic assembly.

[0111] In the embodiment, the cleaning liquid pipeline 103 is built in the support main beam 100, that is, the cleaning liquid pipeline 103 is directly formed on the support main beam 100, and it is not necessary to externally arrange the cleaning liquid pipeline 103. In addition, the cleaning liquid pipeline 103 is formed on the inner wall of the support main beam 100, and the support main beam 100 can shield the sunlight, so that the sunlight cannot directly irradiate the cleaning liquid pipeline 103, and the service life of the cleaning liquid pipeline 103 is prolonged.

[0112] The outer wall of the support main beam 100 is provided with a limiting and fixing groove 104 extending in the axial direction, and the limiting and fixing groove 104 is used for cooperating with the limiting and rotation-stopping convex ribs on the hoop for connecting other components. In the embodiment, the limiting and fixing groove 104 is arranged on the support main beam 100, so that the rotation of the hoop is limited, and the stability of the installation of the hoop is improved.

[0113] The self-charging assembly 400 can be arranged on the support main beam 100 through the hoop. When the photovoltaic cleaning robot has a storage battery, the self-charging assembly 400 can be used for charging the storage battery of the photovoltaic cleaning robot, and can also directly supply power to the electric equipment of the photovoltaic cleaning robot. When the photovoltaic cleaning robot does not have a storage battery, the self-charging assembly 400 can directly supply power to the electric equipment of the photovoltaic cleaning robot. The self-charging assembly 400 can be provided with a self-charging assembly cleaning unit 500, and the self-charging assembly cleaning unit 500 is movably arranged on the self-charging assembly 400 or the support main beam 100 in the extension direction of the self-charging assembly 400, so as to clean the self-charging assembly 400 (for example, as shown in the figure). Figure 1

[0114] As shown in the figures, Figure 12 and Figure 13 The support main beam 100 is provided with a containing cavity, and the containing cavity is provided with a storage battery 600 and / or a control system. The storage battery 600 can include a battery body 610 and a mounting plate 620 arranged at one end of the battery body 610. The outer surface of the battery body 610 has a groove 611, and the groove is in sliding cooperation with a convex rib formed on the support main beam 100 due to the arrangement of the cleaning liquid pipeline 103 (that is, the cleaning liquid pipeline 103 is formed on the convex rib), so that the rotation of the battery body 610 in the support main beam 100 is limited. After the battery body 610 is inserted into the support main beam 100, the mounting plate 620 is fixed to the walking support device 310. In order to facilitate installation, the storage battery 600 and the control system can be integrated together and installed into the containing cavity of the support main beam 100, or the two can be independently installed.

[0115] In the embodiment, the storage battery 600 and / or the control system are inserted into the containing cavity of the support main beam 100 from the side, so that the space is saved and simplified, and the influence of the direct sunlight on the storage battery 600 and / or the control system is avoided due to the shielding of the support main beam 100.

[0116] ​As shown in the present application and claims, unless the context clearly indicates otherwise, the words "comprise", "comprising", "include", "including" and the like are to be construed in an inclusive sense, as opposed to an exclusive or exhaustive sense; that is to say, in the sense of "including, but not limited to". Similarly, the words "comprises", "comprising", "includes", "including" and the like can mean "including, but not limited to".

[0117] In the description of the present application, unless otherwise explicitly defined, the words such as setting, installing, connecting and the like 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.

[0118] 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 the various embodiments can be mutually referred to.

[0119] The principle and implementation mode of the present application are described by using specific examples. The above description of the embodiments is only for helping to understand the method of the present application and its core idea. 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 several ways. These improvements and modifications also fall within the protection scope of the claims of the present application.

Claims

1. A walking wheel, characterized in that A photovoltaic cleaning robot comprises: a core member comprising a wheel surface support body (3200) driven to rotate by a walking drive motor (321); a walking wheel surface body (323) detachably sleeved on the wheel surface support body (3200) and in torque connection with the wheel surface support body (3200).

2. The walking wheel of claim 1, wherein, The core member further comprises a shaft body member (322) having a support mounting end and a walking mounting end, the wheel surface support body (3200) being sleeved on the walking mounting end and coaxially and rotationally fitted with the shaft body member (322).

3. The walking wheel of claim 2, wherein, The wheel surface support body (3200) comprises an annular support member (326) rotationally sleeved on the walking mounting end, and the walking wheel surface body (323) is sleeved on the annular support member (326).

4. The walking wheel of claim 3, wherein, The wheel surface support body (3200) further comprises a first side surface support member (324) and a second side surface support member (325), and the annular support member (326) is rotationally sleeved on the walking mounting end through the first side surface support member (324) and the second side surface support member (325). The first side surface support member (324) and the second side surface support member (325) are arranged in a spaced manner and are rotationally fitted with the shaft body member (322), one end of the annular support member (326) is fixed to the first side surface support member (324), and the other end is fixed to the second side surface support member (325).

5. The walking wheel of claim 4, wherein, Both ends of the walking wheel surface body (323) are limited on the annular support member (326) through a first limiting part (3251) and a second limiting part (327), at least one of the first limiting part (3251) and the second limiting part (327) is detachably arranged.

6. The walking wheel of claim 5, wherein, One of the first limiting part (3251) and the second limiting part (327) is arranged on the first side surface support member (324), and the other is arranged on the second side surface support member (325); or, One of the first limiting part (3251) and the second limiting part (327) is arranged on the first side surface support member (324) or the second side surface support member (325), and the other is arranged on the annular support member (326); or, Both the first limiting part (3251) and the second limiting part (327) are arranged on the annular support member (326).

7. The walking wheel of claim 4, wherein, An end surface of one of the first side surface support member (324) and the second side surface support member (325) located at an end of the shaft body member (322) is provided with a connecting interface (3241) for connecting with other walking wheels.

8. The walking wheel of claim 4, wherein, The shaft body member (322) is in a cylindrical structure, the walking drive motor (321) is arranged in the shaft body member (322), and an output shaft of the walking drive motor (321) is connected with one of the first side surface support member (324) and the second side surface support member (325) located at an end of the shaft body member (322).

9. The walking wheel of claim 4, wherein, The connecting part of the annular support (326) with the first side support (324) and the second side support (325) is provided with a first sealing element; and / or, The first side support (324) and the second side support (325) are rotatably supported on the shaft body (322) through bearings (328), the first side support (324) is arranged at the end of the shaft body (322), and the end face of the first side support (324) away from the support mounting end is a closed end face, the connecting part of the second side support (325) with the shaft body (322) is provided with a second sealing element, and the bearing (328) on the second side support (325) is located on the side of the second sealing element away from the support mounting end.

10. The walking wheel of claim 1, wherein, The tread support body (3200) is of an integral structure, and at least one end of the tread support body (3200) is provided with a transmission part in transmission connection with the walking driving motor (321).

11. The walking wheel of claim 10, wherein, The two ends of the walking tread body (323) are limited on the tread support body (3200) through a third limiting part (3202) and a fourth limiting part (330), and at least one of the third limiting part (3202) and the fourth limiting part (330) is detachably arranged.

12. A walking wheel according to any one of claims 1-11, characterized in that The walking tread body (323) is sleeved into the tread support body (3200) from one end of the tread support body (3200); or, The walking tread body (323) is composed of a plurality of tread parts in the circumferential direction, and each tread part is fixed on the tread support body (3200) in the radial direction of the tread support body (3200) in sequence.

13. A walking wheel as claimed in any one of claims 1 to 11, wherein, The walking tread body (323) is torque-connected with the tread support body (3200) through a guide part assembly or a key, the guide part assembly comprises a first guide part (3201) arranged on the outer circumferential surface of the tread support body (3200) and extending in the axial direction, and a second guide part (3231) arranged on the inner wall of the walking tread body (323) and in sliding cooperation with the first guide part (3201); and / or, The walking tread body (323) is composed of a plurality of segments in the axial direction.

14. A photovoltaic cleaning robot, characterized in that It comprises: a support girder (100); a walking wheel system (300) comprising a first walking mechanism and a second walking mechanism arranged at the two ends of the support girder (100) respectively, the first walking mechanism and the second walking mechanism each comprising a first walking wheel (320a) and a second walking wheel (320b), the first walking wheel (320a) being a walking wheel arranged on the upper surface of a photovoltaic module, the second walking wheel (320b) being a walking wheel arranged on the side of the photovoltaic module, and at least one of the first walking wheel (320a) and the second walking wheel (320b) being the walking wheel according to any one of claims 1-13; a cleaning assembly (200) supported between the first walking mechanism and the second walking mechanism.

15. The photovoltaic cleaning robot of claim 14, wherein, The cleaning assembly (200) comprises: a cleaning roller brush (210); A cleaning driving device (220) is arranged on one of the first walking mechanism and the second walking mechanism, an output shaft of the cleaning driving device (220) is in transmission connection with one end of the cleaning roller brush (210) through a first universal joint (223), and the output shaft of the cleaning driving device (220) is coaxially arranged with the cleaning roller brush (210); A roller brush connecting shaft (230) is rotatably arranged on the other one of the first walking mechanism and the second walking mechanism, and the roller brush connecting shaft (230) is in transmission connection with the other end of the cleaning roller brush (210) through a second universal joint.

16. The photovoltaic cleaning robot of claim 14, wherein, The inner wall of the support main beam (100) is provided with a plurality of cleaning liquid pipelines (103) extending along the axial direction of the support main beam (100), the support main beam (100) has a spray head interface (102) in communication with the cleaning liquid pipeline (103) and penetrating through the side wall, and the spray head interface (102) is connected with a cleaning liquid spray head (101); and / or, The outer wall of the support main beam (100) is provided with a limiting and fixing groove (104) extending along the axial direction, and the limiting and fixing groove (104) is used for cooperating with a limiting and rotation-stopping convex rib on a hoop connected with other components.

17. The photovoltaic cleaning robot of claim 14, wherein, The support main beam (100) is provided with a containing cavity, and the containing cavity is provided with a storage battery (600) and / or a control system.

18. The photovoltaic cleaning robot of claim 14, wherein, Further comprising: A self-charging assembly (400) arranged on the support main beam (100) is used for supplying power and / or charging for the photovoltaic cleaning robot; A self-charging assembly cleaning unit (500) is movably arranged on the self-charging assembly (400) or the support main beam (100) along the extension direction of the self-charging assembly (400) to clean the self-charging assembly (400).

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