Photovoltaic cleaning robot capable of moving transversely

Abstract

The utility model relates to a photovoltaic cleaning robot capable of moving transversely. The photovoltaic cleaning robot is composed of a body, a first crawler belt assembly, a second crawler belt assembly, a third crawler belt assembly, a fourth crawler belt assembly, a first cleaning assembly and a second cleaning assembly. The inclination angles of the first walking wheel and the second walking wheel which are arranged adjacently are opposite, the inclination angles of the third walking wheel and the fourth walking wheel are opposite, and by independently controlling the rotation directions and speeds of the first walking wheel, the second walking wheel, the third walking wheel and the fourth walking wheel, the robot can move transversely without tedious turning actions. Through the arrangement of the first cleaning assembly and the second cleaning assembly, secondary cleaning of the photovoltaic module can be achieved, the upper surface of the photovoltaic module can be comprehensively cleaned without modifying the steering position of the robot after turning, the complexity of a software control system is greatly reduced, manual operation or automatic control is facilitated, the cleaning efficiency is greatly improved, and the cleaning efficiency is improved. And the operation maintenance and labor cost is reduced.

Description

Technical Field

[0001] This utility model relates to the field of photovoltaic modules, specifically to a photovoltaic cleaning robot that can move laterally. Background Technology

[0002] Currently, most distributed photovoltaic power stations use traditional tracked mobile robots to clean photovoltaic panels. However, traditional tracked robots need to frequently rotate and turn during the cleaning process. Furthermore, the robots lack a steering system and achieve turning by differential speed between the left and right tracks. When encountering large-angle turning areas, they require a large turning space. Moreover, the tilted installation of the photovoltaic panels during turning can cause the tracks on both sides to slip, making them inconvenient to use. Utility Model Content

[0003] In view of the above problems, this utility model provides a photovoltaic cleaning robot that can move laterally, which solves the problem of inconvenience in the turning mode of current photovoltaic cleaning robots when turning at large angles.

[0004] To achieve the above objectives, this application provides a photovoltaic cleaning robot capable of lateral movement, comprising a body, a first track assembly, a second track assembly, a third track assembly, a fourth track assembly, a first cleaning assembly, and a second cleaning assembly. The body has a first side, a second side, a third side, and a fourth side, which sequentially enclose to form the outer side of the body. The first side and the third side are arranged opposite to each other, and the second side and the fourth side are arranged opposite to each other.

[0005] A first track assembly is disposed on a first side. The first track assembly includes a first track and a first traveling wheel. The first track is parallel to the first side, and the first traveling wheel is distributed on the outer surface of the first track in a first preset manner. The first traveling wheel is inclined at a first angle to the first side. A second track assembly is disposed on the first side and is adjacent to the first track assembly. The second track assembly includes a second track and a second traveling wheel. The second track is parallel to the first side, and the second traveling wheel is distributed on the outer surface of the second track in a second preset manner. The second traveling wheel is inclined at a second angle to the second side.

[0006] The third track assembly is located on the third side. The third track assembly includes a third track and a third traveling wheel. The third track is parallel to the third side, and the third traveling wheel is distributed on the outer surface of the third track in a third preset manner. The third traveling wheel is inclined at a third angle to the third side. The fourth track assembly is located on the third side and is adjacent to the third track assembly. The fourth track assembly includes a fourth track and a fourth traveling wheel. The fourth track is parallel to the third side, and the fourth traveling wheel is distributed on the outer surface of the fourth track in a fourth preset manner. The fourth traveling wheel is inclined at a fourth angle to the fourth side. The first angle is the same as the fourth angle, the second angle is the same as the third angle, the first angle is opposite to the second angle, and the third angle is opposite to the fourth angle.

[0007] A first cleaning component is disposed on the second side, and the first cleaning component includes a first cleaning roller brush, which is parallel to the second side and is used to clean the upper surface of the photovoltaic module; a second cleaning component is disposed on the fourth side, and the second cleaning component includes a second cleaning roller brush, which is parallel to the fourth side and is used to clean the upper surface of the photovoltaic module.

[0008] In some embodiments, the first track assembly further includes a first drive unit, a first drive wheel, and a first driven wheel. The first drive unit is disposed on the body, and the output end of the first drive unit protrudes from a first side. The first drive wheel is sleeved on the output end of the first drive unit. The first driven wheel is arranged in parallel with the first drive wheel. The first track is sleeved on the periphery of the first drive wheel and the first driven wheel, and the first track is drivenly connected to the first drive wheel and the first driven wheel.

[0009] In some embodiments, the second track assembly further includes a second drive unit, a second drive wheel, and a second driven wheel. The second drive unit is disposed on the body, and the output end of the second drive unit protrudes from the second side. The second drive wheel is sleeved on the output end of the second drive unit. The second driven wheel is arranged side by side with the second drive wheel. The second track is sleeved on the periphery of the second drive wheel and the second driven wheel, and the second track is drivenly connected to the second drive wheel and the second driven wheel.

[0010] In some embodiments, the third track assembly further includes a third drive unit, a third drive wheel, and a third driven wheel. The third drive unit is disposed on the body, and the output end of the third drive unit protrudes from the third side. The third drive wheel is sleeved on the output end of the third drive unit. The third driven wheel is arranged in parallel with the third drive wheel. The third track is sleeved on the periphery of the third drive wheel and the third driven wheel, and the third track is drivenly connected to the third drive wheel and the third driven wheel.

[0011] In some embodiments, the fourth track assembly further includes a fourth drive unit, a fourth drive wheel, and a fourth driven wheel. The fourth drive unit is disposed on the body, and the output end of the fourth drive unit protrudes from the fourth side. The fourth drive wheel is sleeved on the output end of the fourth drive unit. The fourth driven wheel is arranged side by side with the fourth drive wheel. The fourth track is sleeved on the periphery of the fourth drive wheel and the fourth driven wheel, and the fourth track is drivenly connected to the fourth drive wheel and the fourth driven wheel.

[0012] In some embodiments, the body includes a housing, a battery, a control unit, and a cover plate. The housing has a first accommodating cavity, and the top of the housing has a first opening that communicates with the first accommodating cavity. The battery is disposed in the first accommodating cavity. The control unit is disposed in the first accommodating cavity and is electrically connected to the battery. The cover plate covers the first opening.

[0013] In some embodiments, the first cleaning assembly further includes two first fixed legs, a first fixed frame, and a fifth drive unit. The two first fixed legs are arranged opposite to each other and are respectively connected to the second side. The first fixed frame is respectively connected to the two first fixed legs, and a first cleaning roller brush is movably disposed on the first fixed frame. The fifth drive unit is disposed on the first fixed frame and is drively connected to the first cleaning roller brush.

[0014] In some embodiments, the first cleaning assembly further includes a first transmission group and a first protective cover. The first transmission group includes a first transmission rod, a first transmission main wheel, a first transmission driven wheel, and a first conveyor belt. The first transmission rod is connected to the output end of the fifth drive unit via a coupling. The first transmission rod is connected to the first transmission main wheel via a keyway. The first transmission driven wheel is arranged in parallel with the first transmission main wheel. The first transmission driven wheel is connected to the first cleaning roller brush via a keyway. The first conveyor belt is sequentially sleeved on the first transmission main wheel and the first transmission driven wheel. The first protective cover is disposed on the first fixed frame and is disposed above the first cleaning roller brush.

[0015] In some embodiments, the second cleaning assembly further includes two second fixed legs, a second fixed frame, and a sixth drive unit. The two second fixed legs are arranged opposite to each other and are respectively connected to the second side. The second fixed frame is respectively connected to the two second fixed legs, and a second cleaning roller brush is movably disposed on the second fixed frame. The sixth drive unit is disposed on the second fixed frame and is drively connected to the second cleaning roller brush.

[0016] In some embodiments, the second cleaning assembly further includes a second transmission group and a second protective cover. The second transmission group includes a second transmission rod, a second transmission master wheel, a second transmission slave wheel, and a second conveyor belt. The second transmission rod is connected to the output end of the sixth drive unit via a coupling. The second transmission rod is connected to the second transmission master wheel via a keyway. The second transmission slave wheel is arranged parallel to the second transmission master wheel and is connected to the second cleaning roller brush via a keyway. The second conveyor belt is sequentially sleeved on the second transmission master wheel and the second transmission slave wheel. The second protective cover is disposed on the second fixed frame and is disposed above the second cleaning roller brush.

[0017] Unlike existing technologies, the above-described laterally movable photovoltaic cleaning robot consists of a main body, a first track assembly, a second track assembly, a third track assembly, a fourth track assembly, a first cleaning assembly, and a second cleaning assembly. The adjacent first and second tracks have opposite tilt angles, as do the third and fourth tracks. By independently controlling the rotation direction and speed of the first, second, third, and fourth tracks, the robot can move laterally without requiring cumbersome turning maneuvers. The first and second cleaning assemblies enable secondary cleaning of the photovoltaic modules, and after turning, the robot can thoroughly clean the upper surface of the photovoltaic modules without needing to modify its turning position. This robot employs a unique track design, enabling lateral movement without turning, avoiding potential loss of control and slippage during turns. It also significantly reduces the complexity of the software control system, facilitating manual or automatic operation, greatly improving cleaning efficiency, and reducing operation, maintenance, and labor costs.

[0018] The above description of the utility model is merely an overview of the technical solution of this utility model. In order to enable those skilled in the art to better understand the technical solution of this utility model and to implement it based on the description and drawings, and to make the above-mentioned objectives and other objectives, features and advantages of this utility model easier to understand, the following description is provided in conjunction with the specific embodiments and drawings of this utility model. Attached Figure Description

[0019] The accompanying drawings are only used to illustrate the principles, implementation methods, applications, features, and effects of the present invention and other related contents, and should not be considered as limitations on the present invention.

[0020] In the accompanying drawings of the instruction manual:

[0021] Figure 1 A schematic diagram of the robot described in a specific embodiment;

[0022] Figure 2 This is a schematic diagram illustrating the lateral movement of the robot as described in a specific implementation.

[0023] Figure 3 This is a schematic diagram illustrating the longitudinal movement of the robot as described in a specific implementation.

[0024] Figure 4 This is a schematic diagram of the first track assembly in a specific implementation method;

[0025] Figure 5 A diagram showing the positional relationship between the first traveling wheel and the first track in a specific implementation embodiment;

[0026] Figure 6 A schematic diagram of the main body described in a specific embodiment;

[0027] Figure 7 This is a schematic diagram of the first cleaning component in a specific implementation method;

[0028] Figure 8 This is a schematic diagram illustrating the movement of the robot on the photovoltaic module as described in a specific embodiment.

[0029] The reference numerals used in the above figures are explained as follows:

[0030] 1. First track assembly;

[0031] 11. First track;

[0032] 12. First traveling wheel;

[0033] 13. First drive unit;

[0034] 14. First driving wheel;

[0035] 15. First driven wheel;

[0036] 2. Second track assembly;

[0037] 3. Third track assembly;

[0038] 4. Fourth track assembly;

[0039] 5. First cleaning component;

[0040] 51. First fixed support leg;

[0041] 52. First fixing frame;

[0042] 53. Fifth drive unit;

[0043] 54. First cleaning roller brush;

[0044] 55. First transmission group;

[0045] 551. First transmission rod;

[0046] 56. First protective shield;

[0047] 6. Second cleaning component;

[0048] 7. Ontology;

[0049] 71. Shell;

[0050] 711. First accommodating cavity;

[0051] 72. Battery;

[0052] 73. Control unit;

[0053] 74. Cover plate;

[0054] 75. First side;

[0055] 76. Fourth side;

[0056] 8. Photovoltaic modules;

[0057] α, the first included angle. Detailed Implementation

[0058] To illustrate in detail the possible application scenarios, technical principles, implementable specific solutions, and achievable objectives and effects of this utility model, the following description, in conjunction with the listed specific embodiments and accompanying drawings, provides a detailed explanation. The embodiments described herein are merely illustrative of the technical solutions of this utility model and are therefore intended to limit the scope of protection of this utility model.

[0059] In this document, the term "embodiment" means that a specific feature, structure, or characteristic described in connection with an embodiment may be included in at least one embodiment of this utility model. The term "embodiment" appearing in various places throughout the specification does not necessarily refer to the same embodiment, nor does it specifically limit its independence or connection with other embodiments. In principle, in this utility model, as long as there are no technical contradictions or conflicts, the technical features mentioned in each embodiment can be combined in any way to form corresponding implementable technical solutions.

[0060] Unless otherwise defined, the technical terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention pertains; the use of related terms herein is merely for the purpose of describing particular embodiments and is not intended to limit the invention.

[0061] In the description of this utility model, the term "and / or" is used to describe the logical relationship between objects, indicating that three relationships can exist. For example, A and / or B means: A exists, B exists, and A and B exist simultaneously. Additionally, the character " / " generally indicates that the preceding and following objects have an "or" logical relationship.

[0062] In this invention, terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any actual quantity, hierarchy, or order between these entities or operations.

[0063] Without further limitations, the use of terms such as “comprising,” “including,” “having,” or other similar expressions in this invention is intended to cover non-exclusive inclusion, which does not exclude the presence of additional elements in a process, method, or product that includes the stated elements, such that a process, method, or product that includes a series of elements may include not only those defined elements but also other elements not expressly listed, or elements inherent to such a process, method, or product.

[0064] Similar to the understanding in the Examination Guidelines, in this utility model, expressions such as "greater than," "less than," and "exceeding" are understood to exclude the stated number; expressions such as "above," "below," and "within" are understood to include the stated number. Furthermore, in the description of the embodiments of this utility model, "multiple" means two or more (including two), and similar expressions related to "multiple" are also understood in this way, such as "multiple groups" and "multiple times," unless otherwise explicitly specified.

[0065] In the description of the embodiments of this utility model, the space-related expressions used, such as "center," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "vertical," "top," "bottom," "inner," "outer," "clockwise," "counterclockwise," "axial," "radial," and "circumferential," indicate the orientation or positional relationship based on the orientation or positional relationship shown in the specific embodiments or drawings. They are only for the convenience of describing the specific embodiments of this utility model or for the reader's understanding, and do not indicate or imply that the device or component referred to must have a specific position, a specific orientation, or be constructed or operated in a specific orientation. Therefore, they should not be construed as limitations on the embodiments of this utility model.

[0066] Unless otherwise expressly specified or limited, the terms "installation," "connection," "linking," "fixing," and "setting," as used in the description of the embodiments of this utility model, should be interpreted broadly. For example, "connection" can be a fixed connection, a detachable connection, or an integral setting; it can be a mechanical connection, an electrical connection, or a communication connection; it can be a direct connection or an indirect connection through an intermediate medium; it can be the internal connection of two components or the interaction between two components. For those skilled in the art to which this utility model pertains, the specific meaning of the above terms in the embodiments of this utility model can be understood according to the specific circumstances.

[0067] Please see Figures 1 to 8 This embodiment provides a laterally movable photovoltaic cleaning robot, including a body 7, a first track assembly 1, a second track assembly 2, a third track assembly 3, a fourth track assembly 4, a first cleaning assembly 5, and a second cleaning assembly 6. The body 7 has a first side 75, a second side, a third side, and a fourth side 76, which sequentially enclose the outer side of the body 7. The first side 75 and the third side are opposite to each other, and the second side and the fourth side 76 are opposite to each other. The first track assembly 1 is disposed on the first side 75, and the first track assembly 1 covers... The system includes a first track 11 and a first wheel 12. The first track 11 is parallel to the first side 75. The first wheel 12 is distributed on the outer surface of the first track 11 in a first preset manner. The first wheel 12 is inclined at a first angle α with the first side 75. The second track assembly 2 is disposed on the first side 75 and is adjacent to the first track assembly 1. The second track assembly 2 includes a second track and a second wheel. The second track is parallel to the first side 75. The second wheel is distributed on the outer surface of the second track in a second preset manner. The second wheel is inclined at a second angle with the second side.

[0068] The third track assembly 3 is disposed on the third side. The third track assembly 3 includes a third track and a third traveling wheel. The third track is parallel to the third side. The third traveling wheel is distributed on the outer surface of the third track in a third preset manner. The third traveling wheel is inclined at a third angle to the third side. The fourth track assembly 4 is disposed on the third side. The fourth track assembly 4 is adjacent to the third track assembly 3. The fourth track assembly 4 includes a fourth track and a fourth traveling wheel. The fourth track is parallel to the third side. The fourth traveling wheel is distributed on the outer surface of the fourth track in a fourth preset manner. The fourth traveling wheel is inclined at a fourth angle to the fourth side. The first included angle α is the same as the fourth included angle, the second included angle is the same as the third included angle, the first included angle α is opposite to the second included angle, and the third included angle is opposite to the fourth included angle.

[0069] The first cleaning component 5 is disposed on the second side and includes a first cleaning roller brush 54, which is parallel to the second side and is used to clean the upper surface of the photovoltaic module 8. The second cleaning component 6 is disposed on the fourth side 76 and includes a second cleaning roller brush, which is parallel to the fourth side 76 and is used to clean the upper surface of the photovoltaic module 8.

[0070] In this embodiment, the photovoltaic cleaning robot includes a body 7, a first track assembly 1, a second track assembly 2, a third track assembly 3, a fourth track assembly 4, a first cleaning assembly 5, and a second cleaning assembly 6. It should be noted that the first track assembly 1, the second track assembly 2, the third track assembly 3, and the fourth track assembly 4 have the same structure, differing only in their positions on the body 7. Specifically, the first track assembly 1 and the second track assembly 2 are positioned on the same side, the third track assembly 3 and the fourth track assembly 4 are positioned on the same side, the third track assembly 3 and the first track assembly 1 are symmetrically positioned on opposite sides of the body 7, and the fourth track assembly 4 and the second track assembly 2 are symmetrically positioned on opposite sides of the body 7. The main body 7 is the primary connecting structure for the aforementioned components. Other components required for the photovoltaic cleaning robot can be installed on the main body 7, such as the control unit 73 and battery 72 mentioned later. It may also include sensors. To facilitate the description of the positional relationship between the first track assembly 1, the second track assembly 2, the third track assembly 3, the fourth track assembly 4, the first cleaning assembly 5, and the second cleaning assembly 6 on the main body 7, the four sides of the main body 7 are divided into a first side 75, a second side, a third side, and a fourth side 76. The first side 75 is parallel to the third side, and the second side is parallel to the fourth side 76. Thus, the four sides of the main body 7 can be considered as a circumferential structure of a cuboid. The first track assembly 1 and the second track assembly 2 are located on the first side 75, the first cleaning assembly 5 is located on the second side, the third track assembly 3 and the fourth track assembly 4 are located on the third side, and the second cleaning assembly 6 is located on the fourth side 76. This fully utilizes the space around the main body 7, improving the overall space utilization of the photovoltaic cleaning robot. The first cleaning component 5 and the second cleaning component 6 have the same structure, but the difference lies in their positions on the main body 7. The first cleaning component 5 is located on the second side, and the second cleaning component 6 is located on the fourth side 76. That is, the first cleaning component 5 and the second cleaning component 6 are symmetrically arranged with respect to the main body 7. This ensures that the entire photovoltaic cleaning robot can maintain the complete cleaning of the photovoltaic components 8 after turning, without needing to modify the movement stroke and angle of the main body 7, thus making the cleaning efficiency of the entire robot higher.

[0071] Specifically, the first track assembly 1 includes a first track 11 and first traveling wheels 12, wherein the first traveling wheels 12 are embedded in the first track 11, and there are multiple first traveling wheels 12, with their rotation axes arranged in parallel. See reference for details. Figure 4 As shown, the first track 11 is provided with multiple mounting slots, and a first traveling wheel 12 is embedded in each mounting slot. The first traveling wheel 12 rotates in the mounting slot through a rotating shaft.

[0072] It is understood that the connection relationships between the second traveling wheel and the second track, the third traveling wheel and the third track, and the fourth traveling wheel and the fourth track are the same as the connection relationship between the first traveling wheel 12 and the first track 11. In this embodiment, the first preset method, the second preset method, the third preset method, and the fourth preset method can be set according to actual needs. It should be noted that the first included angle α is the same as the fourth included angle, and the second included angle is the same as the third included angle. That is, the rotation direction of the first traveling wheel 12 is the same as the rotation direction of the fourth traveling wheel, and the positions of the first traveling wheel 12 and the fourth traveling wheel are also the same. The rotation direction of the second traveling wheel is the same as the rotation direction of the third traveling wheel, and the positions of the second traveling wheel and the third traveling wheel are also the same.

[0073] When the first track 11 rotates, the friction of the ground will cause the first traveling wheel 12 to rotate under inertia, thereby generating a driving force with the same radial direction as the first traveling wheel 12, such as... Figure 2 and Figure 3 As shown, Figure 2 and Figure 3 The solid arrows in the diagram indicate the rotation directions of the first track 11, the second track, the third track, and the fourth track. Figure 2 and Figure 3 The dashed arrows indicate the rotation directions of the first, second, third, and fourth traveling wheels. This can also be understood as the directions of the driving forces of the first, second, third, and fourth traveling wheels. Under the combined action of the driving forces generated by these wheels, it's important to note that the first and fourth traveling wheels maintain the same rotation direction during movement, as do the second and third traveling wheels. Under this premise, force components in different directions can cancel each other out, while force components in the same direction can be superimposed, thus achieving the conversion of driving forces in the lateral or longitudinal direction. This, in turn, enables lateral and vertical movement, that is, the movement of the entire robot in the lateral and vertical directions. In specific applications, one can refer to... Figure 8 The method shown cleans the multiple rows of photovoltaic modules 8 distributed in the array, ensuring overall cleaning efficiency.

[0074] In this embodiment, the first cleaning component 5 and the second cleaning component 6 can be understood with reference to the structure of existing photovoltaic cleaning robots, or the structure described below can be used. This embodiment does not limit them.

[0075] The structural design of the first track assembly 1, second track assembly 2, third track assembly 3, and fourth track assembly 4 shown in this embodiment enables the robot to operate smoothly during lateral and longitudinal movement, avoiding tilting or loss of control caused by uneven force distribution. Furthermore, the flexible wheel design allows for adjustment of the rotation direction according to different cleaning needs, enhancing the robot's adaptability and enabling it to smoothly cope with various complex terrains and environments. The design of the first cleaning assembly 5 and the second cleaning assembly 6 maintains efficient cleaning capabilities even when the robot is turning, ensuring comprehensive cleaning of the photovoltaic modules 8. This feature effectively reduces the robot's maintenance costs and operating time, improving overall cleaning efficiency. The photovoltaic cleaning robot of this embodiment demonstrates higher efficiency and reliability in practical applications, providing a powerful cleaning solution for the photovoltaic power generation industry and promoting the sustainable development of renewable energy.

[0076] Please see Figure 4 and Figure 5 In some embodiments, the first track assembly 1 further includes a first drive unit 13, a first drive wheel 14, and a first driven wheel 15. The first drive unit 13 is disposed on the body 7, and the output end of the first drive unit 13 protrudes from the first side 75. The first drive wheel 14 is sleeved on the output end of the first drive unit 13. The first driven wheel 15 is arranged side by side with the first drive wheel 14. The first track 11 is sleeved on the periphery of the first drive wheel 14 and the first driven wheel 15, and the first track 11 is drivenly connected to the first drive wheel 14 and the first driven wheel 15.

[0077] In this embodiment, the first track assembly 1 further includes a first drive unit 13, a first drive wheel 14, and a first driven wheel 15. The inner surface of the first track 11 is provided with an array of first tooth structures, and the outer surfaces of the first drive wheel 14 and the first driven wheel 15 are provided with corresponding second tooth structures. The first tooth structures can mesh with the second tooth structures to realize the transmission of the first track 11. At the same time, the first drive wheel 14 and the first driven wheel 15 can also be connected by a transmission belt or other structures. When the first drive wheel 14 rotates under the drive of the first drive unit 13, it can drive the first driven wheel 15 to rotate, thereby driving the first track 11 to rotate.

[0078] It should be noted that the first drive unit 13 can be disposed on the body 7. If the body 7 has the first accommodating cavity 711 described below, the first drive unit 13 can be disposed in the first accommodating cavity 711. The output end of the first drive unit 13 protrudes from the first side 75 and extends outward to be connected to the first drive wheel 14 for transmission. The specific transmission connection method can be coupling transmission, keyway transmission, etc. This embodiment does not limit this.

[0079] In some optional embodiments, the first side 75 is also provided with a first side extension cover for protecting the first track 11 and the first wheel 12. The first side extension cover corresponds to the arc end of the first track 11. That is, the first side extension cover can maintain a certain gap with the first track 11 and the first wheel 12 to protect the first track 11 and the first wheel 12 without interfering with the rotation of the first wheel 12.

[0080] It should be noted that the first drive unit 13, the second drive unit, the third drive unit, the fourth drive unit, the fifth drive unit 53, and the sixth drive unit can be servo motors.

[0081] The first track assembly 1 shown in this embodiment significantly improves the robot's operational performance and reliability through its ingenious drive design. The coordinated configuration of the first drive unit 13, the first driving wheel 14, and the first driven wheel 15 ensures efficient transmission of the first track 11. The meshing transmission between the first and second gear tooth structures improves transmission efficiency and reduces energy loss during transmission. The first drive unit 13 can be flexibly installed within the first accommodating cavity 711, further enhancing the robot's structural compactness and reliability. This enables the photovoltaic cleaning robot to maintain stable and efficient operation in complex cleaning environments, greatly improving the overall performance and reliability of cleaning operations.

[0082] In some embodiments, the second track assembly 2 further includes a second drive unit, a second drive wheel, and a second driven wheel. The second drive unit is disposed on the body 7, and the output end of the second drive unit protrudes from the second side. The second drive wheel is sleeved on the output end of the second drive unit. The second driven wheel is arranged in parallel with the second drive wheel. The second track is sleeved on the periphery of the second drive wheel and the second driven wheel, and the second track is drivenly connected to the second drive wheel and the second driven wheel.

[0083] In this embodiment, the second track assembly 2 also includes a second drive unit, a second drive wheel, and a second driven wheel. Similarly, the transmission connection between the second track and the second drive wheel and the second driven wheel can be understood with reference to the transmission connection between the first track 11 and the first drive wheel 14 and the first driven wheel 15. At the same time, the second drive wheel and the second driven wheel can also be connected by a transmission belt or other structure. When the second drive wheel rotates under the drive of the second drive unit, it can drive the second driven wheel to rotate, thereby driving the second track to rotate.

[0084] It should be noted that the second drive unit can be set on the body 7. If the body 7 has the first accommodating cavity 711 described below, the second drive unit can be set in the first accommodating cavity 711. The output end of the second drive unit protrudes from the first side 75 and extends outward to be connected to the second drive wheel for transmission. The specific transmission connection method can be coupling transmission, keyway transmission, etc. This embodiment does not limit this.

[0085] In some optional embodiments, the first side 75 is also provided with a second side extension cover for protecting the second track and the second traveling wheel. The second side extension cover corresponds to the arc end of the second track. That is, the second side extension cover can maintain a certain gap with the second track and the second traveling wheel to protect the second track and the second traveling wheel without interfering with the rotation of the second traveling wheel.

[0086] Optionally, the first side extension shield and the second side extension shield are arranged opposite to each other.

[0087] The second track assembly 2 shown in this embodiment significantly improves the robot's operational performance and reliability. The coordinated configuration of the second drive unit, the second driving wheel, and the second driven wheel ensures efficient transmission of the second track. The second drive unit can be installed within the first accommodating cavity 711, further enhancing the robot's structural compactness and reliability. This enables the photovoltaic cleaning robot to maintain stable and efficient operation in complex cleaning environments, greatly improving the overall performance and reliability of cleaning operations.

[0088] In some embodiments, the third track assembly 3 further includes a third drive unit, a third drive wheel, and a third driven wheel. The third drive unit is disposed on the body 7, and the output end of the third drive unit protrudes from the third side. The third drive wheel is sleeved on the output end of the third drive unit. The third driven wheel is arranged in parallel with the third drive wheel. The third track is sleeved on the periphery of the third drive wheel and the third driven wheel, and the third track is drivenly connected to the third drive wheel and the third driven wheel.

[0089] In this embodiment, the third track assembly 3 also includes a third drive unit, a third drive wheel, and a third driven wheel. Similarly, the transmission connection between the third track and the third drive wheel and the third driven wheel can be understood with reference to the transmission connection between the first track 11 and the first drive wheel 14 and the first driven wheel 15. At the same time, the third drive wheel and the third driven wheel can also be connected by a transmission belt or other structure. When the third drive wheel rotates under the drive of the third drive unit, it can drive the third driven wheel to rotate, thereby driving the third track to rotate.

[0090] It should be noted that the third drive unit can be set on the body 7. If the body 7 has the first accommodating cavity 711 described below, the third drive unit can be set in the first accommodating cavity 711. The output end of the third drive unit protrudes from the third side and extends outward to be connected to the third drive wheel for transmission. The specific transmission connection method can be coupling transmission, keyway transmission, etc. This embodiment does not limit this.

[0091] In some optional embodiments, the third side is also provided with a third side extension cover for protecting the third track and the third traveling wheel. The third side extension cover corresponds to the arc end of the third track. That is, the third side extension cover can maintain a certain gap with the third track and the third traveling wheel to protect the third track and the third traveling wheel without interfering with the rotation of the third traveling wheel.

[0092] The third track assembly 3 shown in this embodiment significantly improves the robot's operational performance and reliability. The coordinated configuration of the third drive unit, the third driving wheel, and the third driven wheel ensures efficient transmission of the third track. The third drive unit can be installed within the first accommodating cavity 711, further enhancing the robot's structural compactness and reliability. This enables the photovoltaic cleaning robot to maintain stable and efficient operation in complex cleaning environments, greatly improving the overall performance and reliability of cleaning operations.

[0093] In some embodiments, the fourth track assembly 4 further includes a fourth drive unit, a fourth drive wheel, and a fourth driven wheel. The fourth drive unit is disposed on the body 7, and the output end of the fourth drive unit protrudes from the fourth side 76. The fourth drive wheel is sleeved on the output end of the fourth drive unit. The fourth driven wheel is arranged side by side with the fourth drive wheel. The fourth track is sleeved on the periphery of the fourth drive wheel and the fourth driven wheel, and the fourth track is drivenly connected to the fourth drive wheel and the fourth driven wheel.

[0094] In this embodiment, the fourth track assembly 4 also includes a fourth drive unit, a fourth drive wheel, and a fourth driven wheel. Similarly, the transmission connection between the fourth track and the fourth drive wheel and the fourth driven wheel can be understood with reference to the transmission connection between the first track 11 and the first drive wheel 14 and the first driven wheel 15. At the same time, the fourth drive wheel and the fourth driven wheel can also be connected by a transmission belt or other structure. When the fourth drive wheel rotates under the drive of the fourth drive unit, it can drive the fourth driven wheel to rotate, thereby driving the fourth track to rotate.

[0095] It should be noted that the fourth drive unit can be set on the body 7. If the body 7 has the first accommodating cavity 711 described below, the fourth drive unit can be set in the first accommodating cavity 711. The output end of the fourth drive unit protrudes from the third side and extends outward to be connected to the fourth drive wheel for transmission. The specific transmission connection method can be coupling transmission, keyway transmission, etc. This embodiment does not limit this.

[0096] In some optional embodiments, the third side is also provided with a fourth side extension cover for protecting the fourth track and the fourth wheel. The fourth side extension cover corresponds to the arc end of the fourth track. That is, the fourth side extension cover can maintain a certain gap with the fourth track and the fourth wheel so as to protect the fourth track and the fourth wheel without interfering with the rotation of the fourth wheel.

[0097] Optionally, the third side extension shield is arranged opposite to the fourth side extension shield.

[0098] The fourth track assembly 4 shown in this embodiment significantly improves the robot's operational performance and reliability. The coordinated configuration of the fourth drive unit, the fourth driving wheel, and the fourth driven wheel ensures efficient transmission of the fourth track. The fourth drive unit can be installed within the first accommodating cavity 711, further enhancing the robot's structural compactness and reliability. This enables the photovoltaic cleaning robot to maintain stable and efficient operation in complex cleaning environments, greatly improving the overall performance and reliability of cleaning operations.

[0099] Please see Figure 6 In some embodiments, the body 7 includes a housing 71, a battery 72, a control unit 73, and a cover plate 74. The housing 71 has a first accommodating cavity 711 inside, and a first opening is provided on the top of the housing 71, which communicates with the first accommodating cavity 711. The battery 72 is disposed in the first accommodating cavity 711. The control unit 73 is disposed in the first accommodating cavity 711 and is electrically connected to the battery 72. The cover plate 74 covers the first opening.

[0100] In this embodiment, the housing 71 can be made of thin-walled materials such as sheet metal through bending, welding, casting, etc. The housing 71 has a first accommodating cavity 711, which can be used to house various components of the photovoltaic cleaning robot, such as the aforementioned first drive unit 13, second drive unit, third drive unit, and fourth drive unit. It can also be used to house the battery 72, control unit 73, and other components required by the photovoltaic cleaning robot, such as distance sensors, infrared sensors, and image acquisition units. This embodiment does not impose any limitations on this. The battery 72 can be a lithium battery 72 or other rechargeable batteries 72. The control unit 73 is electrically connected to the battery 72. It is understood that the control unit 73 can also be electrically connected to the first drive unit 13, second drive unit, third drive unit, fourth drive unit, fifth drive unit 53, and sixth drive unit respectively to achieve intelligent control of the photovoltaic cleaning robot.

[0101] The material of the cover plate 74 can be the same as that of the housing 71. The cover plate 74 can cover the first opening to prevent changes in the external environment, such as rain or snow, from affecting the components inside the first accommodating cavity 711, thereby extending the service life of the entire photovoltaic cleaning robot.

[0102] In this embodiment, the design of the housing 71 ensures both strength and lightweight, effectively improving the robot's mobility. The first accommodating cavity 711 inside the housing 71 provides a reasonable spatial layout for several key components, allowing the first drive unit 13, control unit 73, and battery 72 to be arranged in an orderly manner, facilitating maintenance and replacement. The battery 72 ensures the robot's endurance. The control unit 73 enables intelligent control of the entire photovoltaic cleaning robot, improving its autonomous cleaning capabilities. The cover 74 effectively blocks external environmental factors from affecting the internal components, extending the robot's lifespan. The solution shown in this embodiment improves the working stability and reliability of the photovoltaic cleaning robot, provides users with a more convenient operating experience, and ensures the robot can operate normally under various climatic conditions.

[0103] Please see Figure 7 In some embodiments, the first cleaning component 5 further includes two first fixed legs 51, a first fixed frame 52, and a fifth drive unit 53. The two first fixed legs 51 are arranged opposite to each other and are respectively connected to the second side. The first fixed frame 52 is respectively connected to the two first fixed legs 51, and a first cleaning roller brush 54 is movably disposed on the first fixed frame 52. The fifth drive unit 53 is disposed on the first fixed frame 52 and is drively connected to the first cleaning roller brush 54.

[0104] In this embodiment, the first cleaning component 5 further includes two first fixed legs 51, which are connected to the main body 7 by locking. Each first fixed leg 51 is provided with a first fixed frame 52. Optionally, the first fixed frame 52 can be U-shaped, with the bottom of the U-shape of the first fixed frame 52 connected to the first fixed legs 51. The first cleaning roller brush 54 is disposed on two extensions of the U-shape of the first fixed frame 52, and the fifth drive unit 53 is disposed on the first fixed frame 52. The specific placement can be found in [reference needed]. Figure 7 It can be understood that the first cleaning component 5 and the second cleaning component 6 have the same structure, and the positional distribution on the second cleaning component 6 can also be understood with reference to the first cleaning component 5.

[0105] For further details, please refer to Figure 7 In some embodiments, the first cleaning assembly 5 further includes a first transmission group 55 and a first protective cover 56. The first transmission group 55 includes a first transmission rod 551, a first transmission main wheel, a first transmission driven wheel, and a first conveyor belt. The first transmission rod 551 is connected to the output end of the fifth drive unit 53 via a coupling. The first transmission rod 551 is connected to the first transmission main wheel via a keyway. The first transmission driven wheel is arranged in parallel with the first transmission main wheel. The first transmission driven wheel is connected to the first cleaning roller brush 54 via a keyway. The first conveyor belt is sequentially sleeved on the first transmission main wheel and the first transmission driven wheel. The first protective cover 56 is disposed on the first fixed frame 52 and is disposed above the first cleaning roller brush 54.

[0106] The first protective cover 56 can be formed by bending thin-walled materials such as sheet metal. The fifth drive unit 53 is connected to the first cleaning roller brush 54 through the first transmission group 55.

[0107] This embodiment ensures the stability of the cleaning component during operation through the anchoring design of two first fixed legs 51 and the second side, preventing shaking or displacement during work. The U-shaped structure of the first fixed frame 52 not only provides reliable support for the first cleaning roller brush 54, but also facilitates the installation and replacement of the first cleaning roller brush 54. The fifth drive unit 53, through precise transmission connection, enables the first cleaning roller brush 54 to operate efficiently, ensuring the continuity and consistency of cleaning operations. In addition, the design of the first transmission group 55 provides reliable power support for the movement of the first cleaning roller brush 54, improving the cleaning effect. The first protective cover 56 protects the first cleaning roller brush 54, avoiding interference from the external environment and increasing safety, preventing potential damage to other components during cleaning. The first cleaning component 5 improves the overall efficiency of the robot in cleaning operations.

[0108] In some embodiments, the second cleaning assembly 6 further includes two second fixed legs, a second fixed frame, and a sixth drive unit. The two second fixed legs are arranged opposite to each other and are respectively connected to the second side. The second fixed frame is respectively connected to the two second fixed legs, and a second cleaning roller brush is movably disposed on the second fixed frame. The sixth drive unit is disposed on the second fixed frame and is drively connected to the second cleaning roller brush.

[0109] In this embodiment, the second cleaning component 6 further includes two second fixed legs, which are connected to the main body 7 by locking. Each second fixed leg has a second fixing frame; optionally, the second fixing frame can be U-shaped, with the bottom of the U-shape connected to the second fixed leg. A second cleaning roller brush is disposed on two extensions of the U-shape of the second fixing frame, and a sixth drive unit is disposed on the second fixing frame.

[0110] Furthermore, in some embodiments, the second cleaning assembly 6 further includes a second transmission group and a second protective cover. The second transmission group includes a second transmission rod, a second transmission master wheel, a second transmission slave wheel, and a second conveyor belt. The second transmission rod is connected to the output end of the sixth drive unit via a coupling. The second transmission rod is connected to the second transmission master wheel via a keyway. The second transmission slave wheel is arranged parallel to the second transmission master wheel and is connected to the second cleaning roller brush via a keyway. The second conveyor belt is sequentially sleeved on the second transmission master wheel and the second transmission slave wheel. The second protective cover is disposed on the second fixed frame and is disposed above the second cleaning roller brush.

[0111] The second protective cover can be formed by bending thin-walled materials such as sheet metal. The sixth drive unit is connected to the second cleaning roller brush through the second transmission group.

[0112] This embodiment ensures the stability of the cleaning component during operation through the anchoring design of two second fixed legs and the second side, preventing shaking or displacement during work. The U-shaped structure of the second fixed frame not only provides reliable support for the second cleaning roller brush but also facilitates its installation and replacement. The sixth drive unit, through precise transmission connection, enables the second cleaning roller brush to operate efficiently, ensuring the continuity and consistency of cleaning operations. Furthermore, the design of the second transmission group provides reliable power support for the movement of the second cleaning roller brush, improving the cleaning effect. The second protective cover protects the second cleaning roller brush from external environmental interference and increases safety, preventing potential damage to other components during cleaning. The second cleaning component 6 improves the overall efficiency of the robot in cleaning operations.

[0113] Unlike existing technologies, the above technical solution features a laterally movable photovoltaic cleaning robot consisting of a main body 7, a first track assembly 1, a second track assembly 2, a third track assembly 3, a fourth track assembly 4, a first cleaning assembly 5, and a second cleaning assembly 6. The adjacent first and second tracks have opposite tilt angles, as do the third and fourth tracks. By independently controlling the rotation direction and speed of the first, second, third, and fourth tracks, the robot can move laterally without requiring cumbersome turning maneuvers. The first and second cleaning assemblies 5 and 6 enable secondary cleaning of the photovoltaic modules 8, and after turning, the robot can thoroughly clean the upper surface of the photovoltaic modules 8 without needing to modify its turning position. This technical solution utilizes a unique track design, enabling lateral movement without turning, avoiding potential loss of control and slippage during turns. It also significantly reduces the complexity of the software control system, facilitating manual or automatic operation, greatly improving cleaning efficiency, and reducing operation, maintenance, and labor costs.

[0114] Finally, it should be noted that although the above embodiments have been described in the text and drawings of this utility model, this should not limit the scope of patent protection of this utility model. Any technical solutions resulting from equivalent structural or procedural substitutions or modifications made based on the essential concept of this utility model and utilizing the content described in the text and drawings of this utility model, as well as the direct or indirect application of the technical solutions of the above embodiments to other related technical fields, are all included within the scope of patent protection of this utility model.

Claims

1. A laterally movable photovoltaic cleaning robot, characterized in that, The utility model relates to a photovoltaic module cleaning device, comprising: a body having a first side, a second side, a third side and a fourth side, the first side, the second side, the third side and the fourth side successively enclose the outside of the body, the first side is opposite to the third side, and the second side is opposite to the fourth side; a first track assembly is arranged on the first side, the first track assembly comprises a first track and a first walking wheel, the first track is parallel to the first side, the first walking wheel is distributed on the outer surface of the first track in a first preset mode, and the first walking wheel is arranged at a first included angle with the first side; a second track assembly is arranged on the first side, the second track assembly is arranged adjacent to the first track assembly, the second track assembly comprises a second track and a second walking wheel, the second track is parallel to the first side, the second walking wheel is distributed on the outer surface of the second track in a second preset mode, and the second walking wheel is arranged at a second included angle with the second side; a third track assembly is arranged on the third side, the third track assembly comprises a third track and a third walking wheel, the third track is parallel to the third side, the third walking wheel is distributed on the outer surface of the third track in a third preset mode, and the third walking wheel is arranged at a third included angle with the third side; a fourth track assembly is arranged on the third side, the fourth track assembly is arranged adjacent to the third track assembly, the fourth track assembly comprises a fourth track and a fourth walking wheel, the fourth track is parallel to the third side, the fourth walking wheel is distributed on the outer surface of the fourth track in a fourth preset mode, and the fourth walking wheel is arranged at a fourth included angle with the fourth side; the first included angle is the same as the fourth included angle, the second included angle is the same as the third included angle, the first included angle is opposite to the second included angle, and the third included angle is opposite to the fourth included angle; a first cleaning assembly is arranged on the second side, the first cleaning assembly comprises a first cleaning roller brush, the first cleaning roller brush is parallel to the second side, and the first cleaning roller brush is used for cleaning the upper surface of the photovoltaic module; a second cleaning assembly is arranged on the fourth side, the second cleaning assembly comprises a second cleaning roller brush, the second cleaning roller brush is parallel to the fourth side, and the second cleaning roller brush is used for cleaning the upper surface of the photovoltaic module.

2. The laterally movable photovoltaic cleaning robot according to claim 1, characterized in that The first track assembly further comprises: a first driving unit arranged on the body, and the output end of the first driving unit protrudes out of the first side; a first driving wheel sleeved on the output end of the first driving unit; a first driven wheel arranged parallel to the first driving wheel, the first track is sleeved on the periphery of the first driving wheel and the first driven wheel, the first track is in transmission connection with the first driving wheel, and the first track is in transmission connection with the first driven wheel.

3. The laterally movable photovoltaic cleaning robot according to claim 1, characterized in that The second track assembly further comprises: a second driving unit arranged on the body, and the output end of the second driving unit protrudes out of the second side; A second driving wheel is arranged in parallel with the second driving unit, and the second track is arranged around the periphery of the second driving wheel and the second driven wheel, and the second track is in transmission connection with the second driving wheel and the second driven wheel. The third track assembly further comprises:

4. The laterally movable photovoltaic cleaning robot according to claim 1, characterized in that A third driving unit is arranged on the body, and the output end of the third driving unit protrudes out of the third side edge; A third driving wheel is arranged in parallel with the third driving unit, and the third track is arranged around the periphery of the third driving wheel and the third driven wheel, and the third track is in transmission connection with the third driving wheel and the third driven wheel. The fourth track assembly further comprises: A fourth driving unit is arranged on the body, and the output end of the fourth driving unit protrudes out of the fourth side edge; 5. The laterally movable photovoltaic cleaning robot according to claim 1, characterized in that A fourth driving wheel is arranged in parallel with the fourth driving unit, and the fourth track is arranged around the periphery of the fourth driving wheel and the fourth driven wheel, and the fourth track is in transmission connection with the fourth driving wheel and the fourth driven wheel. The body comprises: A shell is provided with a first accommodating cavity, and a first opening is arranged on the top of the shell and communicates with the first accommodating cavity; A battery is arranged in the first accommodating cavity; 6. The laterally movable photovoltaic cleaning robot according to claim 1, characterized in that A control unit is arranged in the first accommodating cavity and electrically connected with the battery; A cover plate is arranged on the first opening. The first cleaning assembly further comprises: Two first fixed legs are arranged in opposite positions and connected with the second side edge respectively; A first fixed frame is connected with the two first fixed legs respectively, and the first cleaning roller brush is movably arranged on the first fixed frame; 7. The laterally movable photovoltaic cleaning robot according to claim 1, characterized in that A fifth driving unit is arranged on the first fixed frame and in transmission connection with the first cleaning roller brush. The first cleaning assembly further comprises: A first transmission group comprises a first transmission rod, a first transmission main wheel, a first transmission driven wheel, and a first transmission belt, the output end of the fifth driving unit is in transmission connection with the first transmission rod through a shaft coupling, the first transmission rod is in key groove connection with the first transmission main wheel, the first transmission driven wheel is arranged in parallel with the first transmission main wheel, the first transmission driven wheel is in key groove connection with the first cleaning roller brush, and the first transmission belt is arranged around the first transmission main wheel and the first transmission driven wheel in sequence; A first protective cover is arranged on the first fixed frame and above the first cleaning roller brush.

8. The laterally movable photovoltaic cleaning robot according to claim 7, characterized in that The second cleaning assembly further comprises: Two second fixed legs are arranged in opposite positions and connected with the second side edge respectively; A second fixed frame is connected with the two second fixed legs respectively, and the second cleaning roller brush is movably arranged on the second fixed frame; 9. The laterally movable photovoltaic cleaning robot according to claim 1, characterized in that ​ ​ ​ A sixth driving unit is arranged on the second fixing frame, and the sixth driving unit is in transmission connection with the second cleaning roller brush.

10. The laterally movable photovoltaic cleaning robot according to claim 9, characterized in that The second cleaning assembly further comprises: A second transmission group comprises a second transmission rod, a second transmission main wheel, a second transmission slave wheel and a second transmission belt. The second transmission rod is in transmission connection with the output end of the sixth driving unit through a shaft coupling. The second transmission rod is in key groove connection with the second transmission main wheel. The second transmission slave wheel is arranged side by side with the second transmission main wheel. The second transmission slave wheel is in key groove connection with the second cleaning roller brush. The second transmission belt is sequentially sleeved on the second transmission main wheel and the second transmission slave wheel. A second protective cover is arranged on the second fixing frame, and the second protective cover is arranged above the second cleaning roller brush.

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