Driving mechanism and transfer trolley

Abstract

The driving mechanism comprises a motor and a walking gear rotationally connected with the motor, the walking gear is arranged on a fixing base comprising a bottom plate, side plates and a top plate which are integrally formed, a hollow containing cavity is formed in the center of the bottom plate, at least part of the walking gear is contained in the hollow containing cavity, the walking gear is provided with a gear shaft, and the gear shaft is provided with a gear shaft. The transfer trolley comprises a base, rails arranged on the base and a trolley reciprocating on the rails, the rails comprise an upper walking rail, a lower walking rail and a gear rail, the upper walking rail and the lower walking rail are arranged in parallel, and the gear rail is located between the upper walking rail and the lower walking rail. The trolley comprises a walking frame, a parking frame, a first supporting frame and a second supporting frame, the first supporting frame and the second supporting frame are assembled on the walking frame, the driving mechanism is assembled on the walking frame, and the walking gear is meshed with the gear track. High efficiency of rotation output of the motor is achieved through key connection of the driving mechanism, the operation stability of the transfer trolley is improved through a three-rail structure, and cost is reduced.

Description

Technical Field

[0001] This application relates to the field of clean technology for photovoltaic power plants, and in particular to a drive mechanism and a transfer vehicle. Background Technology

[0002] Photovoltaic power generation, as a clean energy technology, requires regular cleaning of the photovoltaic (PV) panel surfaces to ensure power generation efficiency. Various types of PV cleaning robots have been developed to improve cleaning efficiency. However, these robots typically can only move between connected PV panel arrays, not between unconnected arrays. This means that in practical applications, for rows of PV panels, a separate cleaning robot is often needed for each row, significantly increasing cleaning costs. Existing technologies employ transport vehicles to move the PV cleaning robots. These vehicles typically use a multi-segment folding structure to move from lower to higher positions. This design usually involves complex control mechanisms, numerous structural connections, and the inability to disassemble after assembly, making transportation inconvenient.

[0003] Therefore, it is necessary to propose a new technical solution to overcome the shortcomings of existing technologies. Summary of the Invention

[0004] To address the aforementioned technical problems, this application provides a drive mechanism and a transfer vehicle that are simple in structure and stable in operation.

[0005] To solve the above-mentioned technical problems, this application provides a drive mechanism adapted to a gear track, including a motor and a traveling gear rotatably connected to the motor. The traveling gear is disposed on a fixed base, and the fixed base includes an integrally formed base plate, side plate and top plate. The base plate has a hollow receiving cavity in the center, and the traveling gear is at least partially housed in the hollow receiving cavity. The traveling gear is provided with a gear shaft, and an adapter sleeve is sleeved on the motor shaft of the motor. The adapter sleeve is keyed to the gear shaft.

[0006] Furthermore, the side plate has a central hole, the motor shaft of the motor passes through the central hole, the traveling gear has a shaft hole, the shaft hole has a keyway, the gear shaft has a first receiving groove, the adapter cylinder has a second receiving groove, and the key is received in the first receiving groove and the second receiving groove and engaged with the keyway.

[0007] Furthermore, the front end of the fixed base plate is provided with a support seat, and the support seat is provided with a bearing mounting hole. The first shaft section of the gear shaft is assembled with the bearing in the bearing mounting hole. The second shaft section of the gear shaft is located between the hub of the traveling gear and the support seat. The third shaft section of the gear shaft is partially received in the shaft hole and its end abuts against the adapter cylinder. The length of the first receiving groove is the same as the length of the third shaft section. The diameter of the second shaft section is greater than the diameter of the first shaft section and the diameter of the third shaft section.

[0008] Furthermore, the base plate has through holes at its four corners, which are symmetrically arranged on both sides of the hollow accommodating cavity. The driving mechanism also includes a pulley disposed below the base plate, and the shaft of the pulley passes through the through hole and is fixed to the base plate.

[0009] Furthermore, the center lines of the bearing mounting hole, the shaft hole, and the center hole coincide.

[0010] Furthermore, the motor is a worm gear motor, the motor is assembled on an assembly plate, the assembly plate is assembled and fixed to the side plate of the fixed base, and the top plate is provided with a power transmission shaft.

[0011] This application also provides a transfer vehicle for transferring a photovoltaic cleaning robot, including a base, a track disposed on the base, and a trolley capable of reciprocating on the track. The track includes an upper travel track, a lower travel track, and a gear track arranged in parallel. The gear track is located between the upper travel track and the lower travel track. The trolley includes a walking frame, a first support frame and a second support frame assembled on the walking frame. A docking frame is disposed above the first support frame and the second support frame. The driving mechanism described above is assembled on the walking frame, and the traveling gear meshes with the gear track.

[0012] Furthermore, the gear track includes a meshing surface and guide rails located on both sides of the meshing surface. The meshing surface is provided with gear holes adapted to the traveling gear. The guide rails include intersecting first guide surfaces and second guide surfaces. The groove of the pulley is fitted with the guide rail.

[0013] Furthermore, a third support frame is provided between the first support frame and the walking frame, and the third support frame, together with the first support frame and the walking frame, forms a triangular structure.

[0014] Furthermore, the docking frame is equipped with a limiting mechanism for limiting the position of the photovoltaic cleaning robot. The limiting mechanism includes a mounting base and an electric push rod assembled on the docking frame. The electric push rod is assembled and fixed to the mounting base. The photovoltaic cleaning robot is equipped with a fixed seat, and the electric push rod can be inserted into the fixed seat. The walking frame is equipped with a limiting plate for limiting the position of the walking gear. The limiting plate is equipped with a receiving groove, and the power transmission shaft can be received in the receiving groove.

[0015] Compared with the prior art, this application has the following advantages: the drive mechanism of this application ensures the stability of the running of the walking gear through the fixed seat and ensures the high output efficiency of the motor by connecting the motor and the gear shaft with a key. The transfer car reduces the amount of gear track used by setting a three-track structure, thereby reducing the cost of the transfer car. At the same time, the setting of three tracks increases the stability of the transfer car. Attached Figure Description

[0016] Figure 1 This is a three-dimensional assembly schematic diagram of a drive mechanism in an exemplary embodiment.

[0017] Figure 2 This is a partial exploded perspective view of a drive mechanism in an exemplary embodiment.

[0018] Figure 3 This is a schematic diagram of the three-dimensional assembly of a transport vehicle as an exemplary embodiment.

[0019] Figure 4 yes Figure 3 A magnified view of a portion of point A in the middle.

[0020] Figure 5 This is a three-dimensional assembly schematic diagram of a transport vehicle as an exemplary embodiment.

[0021] Figure 6 This is a three-dimensional assembly diagram of the walking frame and track, which is an exemplary embodiment.

[0022] Figure 7 yes Figure 6 A magnified view of a portion of point B in the middle.

[0023] Figure 8 This is a schematic diagram illustrating the working state of a photovoltaic cleaning robot and a transport vehicle, as shown in an exemplary embodiment.

[0024] Figure 9 yes Figure 8 A magnified view of a portion of point C in the middle.

[0025] Attached icon number

[0026] 100 transfer vehicles

[0027] Upper travel track 1, base 11, lower travel track 2,

[0028] Gear track 3, meshing surface 30, gear hole 301,

[0029] Guide rail 31, first guide surface 310, second guide surface 311

[0030] Track base 32, traveling frame 4, first support frame 40

[0031] Second support frame 41, first adapter seat 42, top wall 420

[0032] Ear 421, Mounting hole 422, Third support bracket 43

[0033] Second adapter 44, parking rack 5, photovoltaic panel 50,

[0034] 51. Electronic control unit; 52. Stop post; 6. Limiting mechanism.

[0035] Electric push rod 61, mounting base 62, limit locking block 63

[0036] 631. Reception section; 632. Locking hole; 64. Magnet.

[0037] 7. Socket; 8. Drive mechanism; 81. Motor.

[0038] Motor shaft 810, travel gear 82, shaft hole 820,

[0039] Keyway 821, Mounting bracket 83, Base plate 830

[0040] Hollow cavity 831, side plate 832, central hole 833,

[0041] Top plate 834, power transmission shaft 835, limit plate 836

[0042] Receiving slot 837, through hole 838, gear shaft 84,

[0043] First axle segment 840, second axle segment 841, third axle segment 842

[0044] First receiving slot 843, adapter cylinder 85, second receiving slot 850,

[0045] Key 86, Support seat 87, Bearing mounting hole 870,

[0046] 88. Pulley, 89. Locking fastener, 9. Assembly plate, 90. Limiting hole. Detailed Implementation

[0047] To make the objectives, technical solutions, and advantages of the embodiments of this application clearer, the technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of this application, not all of them. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application. Therefore, the following detailed description of the embodiments of this application provided in the accompanying drawings is not intended to limit the scope of the claimed application, but merely to represent selected embodiments of this application.

[0048] In the description of this application, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the equipment or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this application.

[0049] Furthermore, it should be understood that although the terms first, second, third, etc., may be used in this application to describe various types of information, such information should not be limited to these terms. These terms are only used to distinguish information of the same type from one another. For example, without departing from the scope of this application, first information may also be referred to as second information, and similarly, second information may also be referred to as first information.

[0050] The terminology used in this application is for the purpose of describing particular embodiments only and is not intended to be limiting of the application. The singular forms “a,” “the,” and “the” used in this application and the appended claims are also intended to include the plural forms unless the context clearly indicates otherwise. In the description of this application, “a plurality” means two or more unless otherwise expressly and specifically defined. It should also be understood that the term “and / or” as used herein refers to and includes any or all possible combinations of one or more of the associated listed items.

[0051] In this application, unless otherwise expressly specified and limited, the terms "installation," "connection," "linking," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in this application according to the specific circumstances.

[0052] In this application, unless otherwise expressly specified and limited, "above" or "below" the second feature can include direct contact between the first and second features, or contact between the first and second features through another feature between them. Furthermore, "above," "over," and "on top" of the second feature includes the first feature being directly above or diagonally above the second feature, or simply indicates that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature includes the first feature being directly below or diagonally below the second feature, or simply indicates that the first feature is at a lower horizontal level than the second feature.

[0053] Please refer to Figures 1 to 9 As shown, a transfer vehicle 100 is used for transferring a photovoltaic cleaning robot. It includes a base 11, a track mounted on the base 11, and a trolley capable of reciprocating on the track. The track includes an upper traveling track 1, a lower traveling track 2, and a gear track 3 arranged in parallel. The gear track 3 is located between the upper traveling track 1 and the lower traveling track 2. The trolley includes a traveling frame 4, a first support frame 40, and a second support frame 41 assembled on the traveling frame. A docking frame 5 is provided above the first support frame 40 and the second support frame 41. A drive mechanism 8 is assembled on the traveling frame 4. The drive mechanism 8 is adapted to the gear track 3 and includes a motor 81 and a traveling gear 82 rotatably connected to the motor. The traveling gear 82 meshes with the gear track 3.

[0054] The traveling gear 82 is mounted on a fixed base 83, which includes an integrally formed base plate 830, side plates 832, and top plate 834. The base plate 830 has a hollow receiving cavity 831 at its center, and the traveling gear 82 is at least partially housed within this cavity. The traveling gear 82 has a gear shaft 84, and an adapter sleeve 85 is fitted onto the motor shaft 810 of the motor 81. The adapter sleeve 85 is keyed to the gear shaft. This keyed connection transmits power from the motor 81 to the traveling gear 82, ensuring high output conversion efficiency of the motor 81.

[0055] The gear track 3 includes a meshing surface 30 and guide rails 31 located on both sides of the meshing surface 30. The meshing surface 30 has gear holes 301 adapted to the traveling gear 82. The guide rails 31 include intersecting first guide surfaces 310 and second guide surfaces 311, and the groove of the pulley 88 fits into the guide rails 31. The included angle formed by the first guide surface 310 and the second guide surface 311 is an acute angle. The second guide surface 311 is connected to a track base 32, which is parallel to the meshing surface 30. The cooperation between the pulley 88 and the guide rails 31 increases the overall stability of the drive mechanism 8.

[0056] Both the upper traveling track 1 and the lower traveling track 2 described in this application adopt a profile structure. By setting up a three-track structure, the overall stability of the transfer vehicle 100 is increased, and the overall cost of the transfer vehicle 100 is reduced by using only one gear track 3. The gear track 3 also adopts a profile structure.

[0057] In one embodiment, the side plate 832 has a central hole 833, through which the motor shaft 810 of the motor 81 passes. The traveling gear 82 has a shaft hole 820, on which a keyway 821 is provided. The gear shaft 84 has a first receiving groove 843, and the adapter cylinder 85 has a second receiving groove 850. The key 86 is received in the first receiving groove 843 and the second receiving groove 850 and engages with the keyway 821. A flat key is preferably selected for the key 86 used in this application.

[0058] The base plate 830 of the fixed seat has a support seat 87 at its front end, and the support seat 87 has a bearing mounting hole 870. The support seat 87 is assembled to the base plate 830 of the fixed seat by means of screws. The first shaft segment 840 of the gear shaft 84 is assembled with the bearing in the bearing mounting hole 870. The second shaft segment 841 of the gear shaft 84 is located between the hub of the traveling gear 82 and the support seat 87. The third shaft segment 842 of the gear shaft 84 is partially received in the shaft hole 820 and its end abuts against the adapter cylinder 85. The length of the first receiving groove 843 is the same as the length of the third shaft segment 842. The diameter of the second shaft segment 841 is greater than the diameter of the first shaft segment 840 and the diameter of the third shaft segment 842. This allows the second shaft segment 841, located between the hub of the traveling gear 82 and the support seat 87, to limit the traveling gear 82 with the help of the force of the support seat 87, preventing axial wobbling during its rotation around the shaft, thereby further enhancing the overall operational stability of the drive mechanism 8.

[0059] The base plate 830 has through holes 838 at its four corners, which are symmetrically arranged on both sides of the hollow accommodating cavity 831. The driving mechanism 8 also includes pulleys 88 disposed below the base plate 830, with the axle of the pulleys 88 passing through the through holes 838 and fixed to the base plate 830. The center lines of the through holes 838 on the same side coincide. Specifically, the center lines of the two through holes 838 on the same side of the travel direction of the transfer vehicle 100 coincide to ensure that the two pulleys 88 on the same side can fit well with the guide rail 31; the center lines of the two through holes 838 on the same side of the hollow accommodating cavity 831 coincide to ensure that the force on both sides of the guide rail 31 is balanced.

[0060] In this application, the center lines of the bearing mounting hole 870, the shaft hole 820, and the center hole 833 are aligned to maximize the energy efficiency of the motor 81.

[0061] The motor 81 is a worm gear motor. Utilizing the self-locking function of the worm gear motor, the drive mechanism 8 can omit the locking mechanism, thereby reducing the overall cost of the transfer cart 100. In one embodiment, the motor 81 is assembled on an assembly plate 9. The assembly plate 9 has a limiting hole 90 corresponding to the central hole 833. A bearing is installed in the limiting hole 90, and the center line of the limiting hole 90 coincides with the center line of the central hole 833. The assembly plate 9 is assembled and fixed to the side plate 832 of the fixed base, and a power transmission shaft 835 is provided on the top plate 834 of the fixed base.

[0062] In one embodiment, a third support frame 43 is provided between the first support frame 40 and the traveling frame 4. The third support frame 43, together with the first support frame 40 and the traveling frame 4, forms a triangular structure to increase the overall stability and strength of the transfer vehicle 100. In this application, the first support frame 40 and the second support frame 41 are respectively assembled and fixed to the docking frame 5 via a first adapter 42; the third support frame 43 is assembled and fixed to the first support frame 40 and the traveling frame 4 via a second adapter 44. The first adapter 42 and the second adapter 44 have the same structure. The structure of the first adapter 42 will be described below as an example. Specifically, the first adapter 42 includes a top wall 420 and ears 421 extending downwards from both sides of the top wall 420. The top wall 420 and the ears 421 form a U-shaped structure, and the ears 421 are provided with mounting holes 422. The first support frame 40, the second support frame 41, and the third support frame 43 are each provided with limiting holes (not shown) corresponding to the mounting holes 422. Bolts pass through the mounting holes 422 and the limiting holes to assemble and fix the corresponding adapters to the first support frame 40, the second support frame 41, and the third support frame 43. The top walls of the first adapter and / or the second adapter can be fixed by bolts or by welding. The first adapter is provided to connect the docking frame to the first and second support frames to facilitate the transportation of the transfer vehicle. After the transfer vehicle is used, the first support frame 40 and the second support frame 41 can be folded with the docking frame 5 by simply loosening the corresponding bolts without complete disassembly. When in use, the corresponding bolts are tightened, which shortens the assembly time and makes it convenient to use.

[0063] Similarly, the second adapter 44 is also provided to facilitate the folding and storage of the third support frame 43.

[0064] To ensure the safe transport of the photovoltaic cleaning robot by the transfer vehicle 100 in different application scenarios, the docking frame 5 in this application is equipped with a limiting mechanism 6 for restricting the photovoltaic cleaning robot. The limiting mechanism 6 includes a mounting base 62 and an electric push rod 61 assembled to the docking frame 5. The electric push rod 61 is fixedly assembled to the mounting base 62. The photovoltaic cleaning robot is equipped with a sleeve 7, into which the electric push rod 61 can be inserted. The walking frame 4 is equipped with a limiting plate 836 for restricting the walking gear 82. The limiting plate 836 has a receiving groove 837, into which the power transmission shaft 835 can be received. The power transmission shaft drives the walking frame.

[0065] In one embodiment, the height of the first support frame 40 is greater than the height of the second support frame 41, and the angle formed by the docking frame 5 and the traveling frame 4 is an acute angle. Admittedly, the size of this angle can be achieved by adjusting the height of the first support frame 40 according to the needs of the actual usage scenario, or by simultaneously adjusting the height of the second support frame 41. To ensure docking stability, the docking frame 5 is assembled from crossbeams and vertical beams, and the limiting mechanism 6 is disposed on the crossbeams. Furthermore, a blocking post 52 can be further disposed on the docking frame 5. The blocking post 52 and the mounting base 62 of the limiting mechanism 6 are located on the same straight line, and this straight line is parallel to the vertical beam of the docking frame 5.

[0066] In one embodiment, an electronic control unit 51 is mounted on the first support frame 40. The electronic control unit 51 includes at least a central controller, a communication module, and a battery that are electrically connected. A photovoltaic panel 50 is mounted on the outside of the docking frame 5. The photovoltaic panel 50 is electrically connected to the electronic control unit 51, and the electronic control unit 51 provides power to the drive mechanism 8. Specifically, the cables of the photovoltaic panel are connected to an inverter, and the inverter is connected to the battery of the electronic control unit 51, supplying power to the motor 81 of the drive mechanism 8. By setting up a photovoltaic panel and using the photovoltaic panel to generate electricity to power the transport vehicle, the problem of autonomous power supply for outdoor operations of the transport vehicle is solved, enhancing the adaptability of the product.

[0067] The working principle of the electric push rod 61 described in this application is as follows: The photovoltaic cleaning robot is equipped with a position sensor, and the mounting base 62 is equipped with a magnet 64 adapted to the position sensor. The socket 7 is located on one side of the position sensor. After reaching a preset position, the electric push rod 61 can be inserted into the socket 7. Specifically, the socket 7 is a long strip-shaped structure with a racetrack-shaped slot in its center. Part of the socket 7 extends outward from the outer end of the photovoltaic cleaning robot body. When the position sensor detects the magnet 64, it sends a signal to the central controller. The central controller controls the electric push rod 61 to switch from a zero position to a travel limit position, and the extended push rod passes through the slot and inserts into the socket 7. To prevent the electric push rod 61 from slipping out after being inserted into the socket 7, in one embodiment of this application, a limit locking block 63 is provided above the electric push rod 61. The limiting locking block 63 is assembled on the mounting base 62. The limiting locking block 63 forms a receiving portion for accommodating the socket 7 and a locking hole 632 adapted to the electric push rod 61. This application monitors the position of the photovoltaic cleaning robot through the sensing of the magnet 64 and the sensor. The structure is simple and highly reliable. The insertion of the electric push rod 61 and the socket 7 enhances the safety of the photovoltaic cleaning robot and the overall operation of the transport vehicle 100 after reaching the designated position. By further setting a limiting structure, the safety performance of the photovoltaic cleaning robot during the transport process is enhanced, avoiding accidents such as falling off due to vibration.

[0068] The traveling frame 4 is provided with a locking element 89 that is movably sleeved with the upper traveling track 1 and / or the lower traveling track 2. Specifically, a screw is assembled on the traveling frame 4 at a position opposite to the upper traveling track 1 and / or the lower traveling track 2. The end of the screw extends at least partially into the upper traveling track 1 and / or the lower traveling track 2 and is equipped with a nut. The upper traveling track 1 and / or the lower traveling track 2 limits the nut to prevent the screw from slipping out of the upper traveling track 1 and / or the lower traveling track 2.

[0069] In one embodiment, the drive mechanism 8 is provided with a protective housing to prevent the drive mechanism 8 from being corroded by rain, snow and other environmental factors, thereby increasing the service life of the product.

[0070] The embodiments described above are merely illustrative of several implementation methods of this application, and while the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the invention patent. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of this application, and these all fall within the protection scope of this application. Therefore, the protection scope of this patent application should be determined by the appended claims.

Claims

1. A drive mechanism adapted to a gear track, characterized in that, The device includes a motor and a traveling gear rotatably connected to the motor. The traveling gear is mounted on a fixed base. The fixed base includes an integrally formed base plate, side plate, and top plate. The base plate has a hollow receiving cavity at its center. The traveling gear is at least partially housed within the hollow receiving cavity. The traveling gear has a gear shaft. An adapter sleeve is fitted onto the motor shaft of the motor. The adapter sleeve is keyed to the gear shaft.

2. The drive mechanism of claim 1, wherein, The side plate has a central hole, the motor shaft of the motor passes through the central hole, the traveling gear has a shaft hole, the shaft hole has a keyway, the gear shaft has a first receiving groove, the adapter cylinder has a second receiving groove, and the key is received in the first receiving groove and the second receiving groove and engaged with the keyway.

3. The drive mechanism of claim 2, wherein, The front end of the fixed base plate is provided with a support seat, and the support seat is provided with a bearing mounting hole. The first shaft section of the gear shaft is assembled with the bearing in the bearing mounting hole. The second shaft section of the gear shaft is located between the hub of the traveling gear and the support seat. The third shaft section of the gear shaft is partially received in the shaft hole and its end abuts against the adapter cylinder. The length of the first receiving groove is the same as the length of the third shaft section. The diameter of the second shaft section is greater than the diameter of the first shaft section and the diameter of the third shaft section.

4. The drive mechanism of claim 3, wherein, The base plate has through holes at its four corners, which are symmetrically arranged on both sides of the hollow accommodating cavity. The driving mechanism also includes pulleys disposed below the base plate, with the pulley shafts passing through the through holes and fixed to the base plate.

5. The drive mechanism of claim 4, wherein, The center lines of the bearing mounting hole, the shaft hole, and the center hole coincide.

6. The drive mechanism of claim 5, wherein, The motor is a worm gear motor, which is assembled on an assembly plate. The assembly plate is assembled and fixed to the side plate of the fixed base, and a power transmission shaft is provided on the top plate.

7. A transfer vehicle for transferring a photovoltaic cleaning robot, characterized in that The device includes a base, a track disposed on the base, and a trolley capable of reciprocating on the track. The track includes an upper travel track, a lower travel track, and a gear track arranged in parallel. The gear track is located between the upper travel track and the lower travel track. The trolley includes a traveling frame, a first support frame and a second support frame assembled on the traveling frame. A docking frame is disposed above the first support frame and the second support frame. A drive mechanism as described in any one of claims 1 to 6 is assembled on the traveling frame, and the traveling gear meshes with the gear track.

8. The transfer cart of claim 7, wherein, The gear track includes a meshing surface and guide rails located on both sides of the meshing surface. The meshing surface is provided with gear holes adapted to the traveling gear. The guide rails include intersecting first guide surfaces and second guide surfaces. The groove of the pulley is fitted with the guide rail.

9. The transfer cart of claim 8, wherein, A third support frame is provided between the first support frame and the walking frame, and the third support frame, together with the first support frame and the walking frame, forms a triangular structure.

10. The transfer cart of claim 9, wherein, The parking rack is provided with a limiting mechanism for limiting the photovoltaic cleaning robot, the limiting mechanism comprises a mounting seat assembled on the parking rack and an electric push rod, the electric push rod is fixedly assembled with the mounting seat, the photovoltaic cleaning robot is provided with a fixing seat, the electric push rod can be sleeved and inserted into the fixing seat, the walking rack is provided with a limiting plate for limiting the walking gear, the limiting plate is provided with a receiving groove, and the power transmission shaft can be received in the receiving groove.

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