Photovoltaic cleaning robot

Abstract

The utility model relates to a photovoltaic cleaning robot. The photovoltaic cleaning robot comprises a main body, a cleaning part, a first wheel set, a rotating assembly and a second wheel set. According to the photovoltaic cleaning robot, force needed by an operator in the racking process is small, meanwhile, multiple sets of roller structures are omitted, the second wheel set is used for racking and also used for moving in the second direction, and therefore the whole photovoltaic cleaning robot is simpler and more compact in structure, and the situation that the racking process is affected by too many wheel sets is avoided.

Description

Technical Field

[0001] This application relates to the field of cleaning equipment technology, and in particular to photovoltaic cleaning robots. Background Technology

[0002] Dust and other impurities that settle on the surface of photovoltaic modules need to be cleaned promptly; otherwise, they will obstruct the surface of the modules, significantly reducing their power generation efficiency. In severe cases, they can even cause hot spots, leading to damage to the photovoltaic modules.

[0003] Currently, most photovoltaic cleaning robots are deployed on-site by using lifting equipment for hoisting or elevator transportation, while a small number are deployed by manually assisting devices that require disassembly.

[0004] Most existing photovoltaic cleaning robots with manual assistance are equipped with multiple sets of walking wheels, with wheels in two directions rolling in different directions. This allows them to move on the surface of the photovoltaic modules to the mounting position, and then move along the arrangement direction of the photovoltaic modules using the other walking wheel to clean the surface of the photovoltaic modules.

[0005] However, existing manually assisted photovoltaic cleaning robots will collide with photovoltaic modules when they are placed on the shelves. To avoid collisions, it is necessary to manually overcome gravity and gently place the manually assisted photovoltaic cleaning robot on the surface of the photovoltaic modules. At the same time, the multiple sets of wheels in multiple directions make the structure complex and affect the manual placement process. Utility Model Content

[0006] Based on this, it is necessary to provide a photovoltaic cleaning robot that addresses the problem that existing manually assisted photovoltaic cleaning robots may collide with photovoltaic modules during loading. To avoid such collisions, manual intervention is required to overcome gravity and gently place the manually assisted photovoltaic cleaning robot onto the surface of the photovoltaic modules. Furthermore, the multiple sets of wheels in multiple directions complicate the structure and affect the manual loading process.

[0007] A photovoltaic cleaning robot is used to clean photovoltaic modules. The photovoltaic cleaning robot includes: a main body, a cleaning unit, a first wheel set, a rotating component, and a second wheel set.

[0008] The main body has protrusions on both sides along the first direction, which are close to the photovoltaic module. The first axle of the first wheel assembly is connected to the end of the protrusion away from the main body and rolls with the side wall of the photovoltaic module along the second direction. The cleaning part is located on the side of the main body close to the photovoltaic module.

[0009] The rotating assembly is rotatably connected to the main body about an axis in a first direction. The end of the rotating assembly opposite to the first wheel set along the first direction is connected to the second shaft of the second wheel set, so that the second wheel set has a first state and a second state.

[0010] When the second wheel assembly is in the first state, the second rotating shaft extends along the second direction, and the second wheel assembly rolls around the second rotating shaft in cooperation with the surface of the photovoltaic module.

[0011] When the second wheel assembly is in the second state, the second shaft extends along the second direction, and the second wheel assembly rolls around the second shaft in cooperation with the side wall of the photovoltaic module; the third direction is the thickness direction of the photovoltaic module, and the first direction, the second direction, and the third direction are perpendicular to each other.

[0012] In one embodiment, the photovoltaic cleaning robot further includes a rotating drum connected to the main body, and the rotating component passes through the rotating drum and rotates in cooperation with the rotating drum.

[0013] In one embodiment, the photovoltaic cleaning robot further includes a first pin, the rotating assembly includes a rod group, the first pin is connected to the side wall of the rod group, the side wall of the rotating drum is provided with a first strip hole around the circumference of the rotating drum, and the first pin passes through the first strip hole and slides in cooperation with the side wall of the first strip hole.

[0014] When the second wheel assembly is in the first state, the first pin is located at one end of the first slot;

[0015] When the second wheel assembly is in the second state, the first pin is located at the other end of the first strip hole.

[0016] In one embodiment, the photovoltaic cleaning robot further includes: a first ring plate, a second ring plate, and a third ring plate;

[0017] The outer periphery of the first ring plate is connected to the inner wall of the end of the rotating cylinder near the first wheel assembly, and the outer periphery of the first ring plate is in clearance fit with the rod assembly;

[0018] The outer periphery of the second ring plate is connected to the inner wall of the end of the rotating drum opposite to the first wheel assembly, and the outer periphery of the second ring plate is in clearance fit with the rod assembly;

[0019] The inner circumference of the third ring plate is connected to the outer wall of the rod assembly, and the outer circumference of the third ring plate is slidably engaged with the inner wall of the rotating cylinder. The third ring plate is located between the first ring plate and the second ring plate.

[0020] In one embodiment, the photovoltaic cleaning robot further includes a flexible element;

[0021] The rotating drum is also provided with a first through hole and a second through hole. The first through hole is connected to the first strip hole, and the second through hole is connected to the first strip hole. Both the first through hole and the second through hole are located on the side of the first strip hole closer to the second wheel assembly.

[0022] One end of the elastic element is connected to or abuts against the first ring plate, and the other end is connected to or abuts against the third ring plate;

[0023] When the second wheel assembly is in the first state, the first pin is located inside the first through hole;

[0024] When the second wheel assembly is in the second state, the first pin is located in the second through hole.

[0025] In one embodiment, the photovoltaic cleaning robot further includes a second pin, and the lever assembly includes a first lever and a second lever;

[0026] The second rod has a conversion groove on one end face near the first wheel set, and the groove wall of the conversion groove has a second strip-shaped hole extending along the first direction. The end of the second rod away from the first wheel set is connected to the second shaft.

[0027] The first rod passes through the rotating cylinder, and the end of the first rod opposite to the first wheel set is located in the conversion groove. The second pin is connected to the side wall of the end of the first rod opposite to the first wheel set and slides in cooperation with the side wall of the second strip hole.

[0028] In one embodiment, the photovoltaic cleaning robot further includes a first coupling, a second coupling, a third rotating shaft, and a power unit;

[0029] One end of the first coupling is connected to the end of the rotating assembly away from the first wheel assembly, and the other end is connected to the end of the power unit away from the photovoltaic module along a third direction. One end of the second coupling is connected to the third rotating shaft, and the other end is connected to the end of the power unit close to the photovoltaic module along a third direction. The end of the second coupling away from the power unit along the first direction is connected to the second rotating shaft.

[0030] In one embodiment, the photovoltaic cleaning robot further includes connectors and fasteners;

[0031] The connector includes a first connecting part and a second connecting part connected to each other. The end of the first connecting part opposite to the second connecting part is connected to the rotating drum. The second connecting part extends along the first direction and has a first fastening hole. The main body has a second fastening hole on the side near the photovoltaic module. The fastener passes through the first fastening hole and the second fastening hole.

[0032] In one embodiment, the photovoltaic cleaning robot includes two connectors and two sets of fasteners;

[0033] The two connectors are spaced apart along the first direction, and the two second connecting portions of the two connectors extend in directions away from each other.

[0034] The second connecting part has a set of first fastening holes, and the main body has two sets of second fastening holes on the side close to the photovoltaic module. The two sets of fasteners, the two sets of first fastening holes and the two sets of second fastening holes correspond one to one. The fasteners pass through the corresponding first fastening holes and the corresponding second fastening holes.

[0035] In one embodiment, the photovoltaic cleaning robot further includes a plurality of bearing seats, which are spaced apart along the first direction. The rotating component passes through the bearing seats, and the end of the bearing seat opposite to the photovoltaic component is connected to the main body.

[0036] In actual use, the aforementioned photovoltaic cleaning robot first positions the second wheel assembly in the first state and lifts the robot onto the surface of the photovoltaic module, allowing the second wheel assembly to roll in contact with the module's surface. The operator holds the main body and pushes the entire robot along a first direction, causing the second wheel assembly to roll from the end closer to the operator to the end further away. At this point, the first wheel assembly is not in contact with the photovoltaic module. As the second wheel assembly moves to the end further away from the operator, it rolls from the photovoltaic module's surface to its side wall. During this process, the robot's center of gravity lowers, but only by the radius of the second wheel assembly, which is relatively small. Furthermore, during this rolling motion, the operator only needs to apply minimal force, ensuring the second wheel assembly remains in contact with the photovoltaic module throughout, similar to rolling down stairs while remaining flush with the surface. Therefore, the photovoltaic cleaning robot will not collide with the photovoltaic module. After the second set of wheels rolls from the surface of the photovoltaic module to the side wall of the photovoltaic module, the second rotating shaft is rotated by the rotating component, so that the extension direction of the second rotating shaft is switched from the second direction to the third direction. That is, the second set of wheels switches from the first state to the second state. At this time, the first set of wheels rolls and cooperates with the side wall of the photovoltaic module near the operator, and the second set of wheels rolls and cooperates with the side wall of the photovoltaic module away from the operator. At this time, the cleaning part contacts the surface of the photovoltaic module, and the cleaning part cleans the surface of the photovoltaic module along the second direction as the photovoltaic cleaning robot moves.

[0037] The above structure not only reduces the force required by the operator during the loading process, but also reduces the number of roller structures. The second set of wheels is used for both loading and movement in the second direction, thus making the structure of the entire photovoltaic cleaning robot simpler and more compact, and avoiding the impact of too many rollers on the loading process. Attached Figure Description

[0038] Figure 1 This is a schematic diagram of the second wheel assembly of a photovoltaic cleaning robot in a first state according to an embodiment.

[0039] Figure 2 for Figure 1 A schematic diagram showing the second wheel assembly of the photovoltaic cleaning robot in its second state.

[0040] Figure 3 for Figure 1 A schematic diagram of the rotating components and the second wheel assembly of the photovoltaic cleaning robot.

[0041] Figure 4 for Figure 3 Enlarged view of the sleeve section.

[0042] Figure 5 for Figure 4 A diagram from another perspective.

[0043] Figure 6 for Figure 4 A sectional view.

[0044] Figure 7 for Figure 6 A diagram showing the installation of a flexible element.

[0045] Figure 8 for Figure 3 An enlarged view of the power unit.

[0046] Explanation of icon numbers:

[0047] 100-Photovoltaic Cleaning Robot;

[0048] 110 - Main body; 111 - Boss;

[0049] 120 - Cleaning Department;

[0050] 130 - First Round Group;

[0051] 140 - Rotating assembly; 141 - Rod assembly; 142 - First rod; 143 - Second rod; 144 - Transition groove; 145 - Second strip hole;

[0052] 150 - Second set; 151 - First axle; 152 - Second axle;

[0053] 160 - First pin; 161 - First ring plate; 162 - Second ring plate; 163 - Third ring plate; 164 - Elastic element; 165 - Second pin; 166 - Bearing housing;

[0054] 170 - Rotary drum; 171 - First strip hole; 172 - First through hole; 173 - Second through hole;

[0055] 180 - First coupling; 181 - Second coupling; 182 - Third shaft; 183 - Power unit;

[0056] 190 - Connector; 191 - First connecting part; 192 - Second connecting part; 193 - First fastening hole;

[0057] 200 - Photovoltaic modules;

[0058] OX - First direction; OY - Second direction; OZ - Third direction. Detailed Implementation

[0059] To make the above-mentioned objectives, features, and advantages of this application more apparent and understandable, the specific embodiments of this application are described in detail below with reference to the accompanying drawings. Many specific details are set forth in the following description to provide a thorough understanding of this application. However, this application can be implemented in many other ways different from those described herein, and those skilled in the art can make similar modifications without departing from the spirit of this application. Therefore, this application is not limited to the specific embodiments disclosed below.

[0060] In the description of this application, it should be understood that if terms such as "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential" appear, these terms indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this application.

[0061] Furthermore, where the terms "first" and "second" appear, these terms are for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined with "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this application, where the term "multiple" appears, "multiple" means at least two, such as two, three, etc., unless otherwise explicitly specified.

[0062] In this application, unless otherwise expressly specified and limited, the terms "installation," "connection," "joining," 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, unless otherwise expressly limited. Those skilled in the art can understand the specific meaning of the above terms in this application based on the specific circumstances.

[0063] In this application, unless otherwise expressly specified and limited, the use of descriptions such as "above" or "below" the second feature indicates that the first and second features are in direct contact or indirect contact via an intermediate medium. Furthermore, "above," "on top of," and "over" the second feature can mean that the first feature is directly above or diagonally above the second feature, or simply that the first feature is at a higher horizontal level than the second feature. Similarly, "below," "below," and "under" the second feature can mean that the first feature is directly below or diagonally below the second feature, or simply that the first feature is at a lower horizontal level than the second feature.

[0064] It should be noted that if an element is referred to as being "fixed to" or "set on" another element, it can be directly on the other element or there may be an intervening element. If an element is considered to be "connected to" another element, it can be directly connected to the other element or there may be an intervening element. If so, the terms "vertical," "horizontal," "upper," "lower," "left," "right," and similar expressions used in this application are for illustrative purposes only and do not represent the only possible implementation.

[0065] See Figure 1 , Figure 1 The diagram shows a photovoltaic cleaning robot 100 mounted on a photovoltaic module 200 according to an embodiment of this application. The photovoltaic cleaning robot 100 provided in an embodiment of this application includes: a main body 110, a cleaning part 120, a first wheel set 130, a rotating component 140, and a second wheel set 150.

[0066] In the aforementioned photovoltaic cleaning robot 100, the main body 110 has protrusions 111 on both sides along the first direction OX, near the photovoltaic module 200. The first rotating shaft 151 of the first wheel assembly 130 is connected to the end of the protrusion 111 away from the main body 110, and rolls in cooperation with the side wall of the photovoltaic module 200 along the second direction OY. The cleaning part 120 is located on the side of the main body 110 near the photovoltaic module 200. The rotating assembly 140 is rotatably connected to the main body 110 about the axis of the first direction OX. The end of the rotating assembly 140 away from the first wheel assembly 130 along the first direction OX is connected to the second rotating shaft 152 of the second wheel assembly 150, so that the second wheel assembly 150 has a first state and a second state. Figure 1 and Figure 3 When the second wheel assembly 150 is in the first state, the second rotating shaft 152 extends along the second direction OY, and the second wheel assembly 150 rolls around the second rotating shaft 152 in a rolling engagement with the surface of the photovoltaic module 200. For example... Figure 2 and Figure 3 When the second wheel assembly 150 is in the second state, the second rotating shaft 152 extends along the third direction OZ, and the second wheel assembly 150 rolls around the second rotating shaft 152 in cooperation with the side wall of the photovoltaic module 200. The third direction OZ is the thickness direction of the photovoltaic module 200, and the first direction OX, the second direction OY and the third direction OZ are perpendicular to each other.

[0067] In actual use, the photovoltaic cleaning robot 100 first places the second wheel set 150 in the first state and lifts the photovoltaic cleaning robot 100 onto the surface of the photovoltaic module 200, allowing the second wheel set 150 to roll in cooperation with the surface of the photovoltaic module 200. The operator holds the main body 110 and pushes the entire photovoltaic cleaning robot 100 along the first direction OX, causing the second wheel set 150 to roll from the end closer to the operator to the end farther away from the operator. At this time, the first wheel set 130 does not contact the photovoltaic module 200. When the second wheel set 150 moves to the end farther away from the operator, it will roll from the surface of the photovoltaic module 200 to the side wall of the photovoltaic module 200. During this process, the center of gravity of the photovoltaic cleaning robot 100 drops as a whole, but only a small distance. Furthermore, during the process of the second wheel assembly 150 rolling from the surface of the photovoltaic module 200 to the side wall of the photovoltaic module 200, the operator only needs to use a small force to ensure that the second wheel assembly 150 is always in contact with the photovoltaic module 200, similar to the process of rolling down a step while always sticking to the step surface. Therefore, the photovoltaic cleaning robot 100 will not collide with the photovoltaic module 200. After the second wheel assembly 150 rolls from the surface of the photovoltaic module 200 to the side wall of the photovoltaic module 200, the second rotating shaft 152 is rotated by the rotating assembly 140, so that the extension direction of the second rotating shaft 152 is switched from the second direction OY to the third direction OZ. That is, the second wheel assembly 150 switches from the first state to the second state. At this time, the first wheel assembly 130 rolls with the side wall of the photovoltaic module 200 at the end closer to the operator, and the second wheel assembly 150 rolls with the side wall of the photovoltaic module 200 at the end away from the operator. At this time, the cleaning part 120 contacts the surface of the photovoltaic module 200, and the cleaning part 120 cleans the surface of the photovoltaic module 200 along the second direction OY as the photovoltaic cleaning robot 100 moves.

[0068] The above structure not only reduces the force required by the operator during the loading process, but also reduces the number of roller structures. The second roller group 150 is used for both loading and moving along the second direction OY, thus making the structure of the entire photovoltaic cleaning robot 100 simpler and more compact, and avoiding the impact of too many roller groups on the loading process.

[0069] Specifically, the first set of wheels 130 consists of two rollers or two sets of rollers, and the second set of wheels 150 can also consist of two rollers or two sets of rollers.

[0070] See Figure 4 In one embodiment, the photovoltaic cleaning robot 100 further includes a rotating drum 170, which is connected to the main body 110, and a rotating component 140 passes through the rotating drum 170 and rotates in cooperation with the rotating drum 170.

[0071] In this embodiment, the rotating cylinder 170 is connected to the main body 110, and the rotating component 140 passes through the rotating cylinder 170 and rotates with the rotating cylinder 170, thereby realizing the rotational connection between the rotating component 140 and the main body 110 through the rotating cylinder 170. Specifically, the axis of the rotating cylinder 170 extends along the first direction OX.

[0072] In other embodiments, the rotating component 140 may also be rotatably connected to the main body 110 via a bearing, and the manner in which the rotating component 140 is rotatably connected to the main body 110 is not limited here.

[0073] See Figure 4 , Figure 5 as well as Figure 6 In one embodiment, the photovoltaic cleaning robot 100 further includes a first pin 160. The rotating assembly 140 includes a rod assembly 141. The first pin 160 is connected to the side wall of the rod assembly 141. The side wall of the rotating cylinder 170 has a first strip-shaped hole 171 circumferentially formed around the rotating cylinder 170. The first pin 160 passes through the first strip-shaped hole 171 and slides in cooperation with the side wall of the first strip-shaped hole 171. When the second wheel assembly 150 is in the first state, the first pin 160 is located at one end of the first strip-shaped hole 171. When the second wheel assembly 150 is in the second state, the first pin 160 is located at the other end of the first strip-shaped hole 171. Thus, by limiting the first pin 160 through the first strip hole 171, the second wheel assembly 150 can switch between the first state and the second state simply by rotating the rod assembly 141 relative to the rotating cylinder 170. Specifically, the angle at which the first strip hole 171 is opened around the circumference of the rotating cylinder 170 is 90° or 270°. Preferably, the angle at which the first strip hole 171 is opened around the circumference of the rotating cylinder 170 is 90°. This allows the second wheel assembly 150 to switch between rolling engagement with the surface of the photovoltaic module 200 and rolling engagement with the side of the photovoltaic module 200 with the minimum rotation angle. That is, the extension direction of the second rotating shaft 152 switches between the second direction OY and the third direction OZ, without causing the engagement direction of the second wheel assembly 150 and the photovoltaic module 200 to deviate, making the switching of the second wheel assembly 150 more convenient.

[0074] See Figure 4 , Figure 5 as well as Figure 6In one embodiment, the photovoltaic cleaning robot 100 further includes a first ring plate 161, a second ring plate 162, and a third ring plate 163. The outer periphery of the first ring plate 161 is connected to the inner wall of the end of the rotating drum 170 near the first wheel assembly 130, and the outer periphery of the first ring plate 161 is in clearance fit with the rod assembly 141. The outer periphery of the second ring plate 162 is connected to the inner wall of the end of the rotating drum 170 away from the first wheel assembly 130, and the outer periphery of the second ring plate 162 is in clearance fit with the rod assembly 141. The inner periphery of the third ring plate 163 is connected to the outer wall of the rod assembly 141, and the outer periphery of the third ring plate 163 is in sliding fit with the inner wall of the rotating drum 170. The third ring plate 163 is located between the first ring plate 161 and the second ring plate 162.

[0075] The first ring plate 161 and the second ring plate 162 axially limit the rod assembly 141, ensuring that the longer rod assembly 141 can rotate around its axis. Meanwhile, since the rod assembly 141 passes through the rotating cylinder 170, without limiting it, the rod assembly 141 could easily detach from the rotating cylinder 170. Therefore, a third ring plate 163 is provided between the first ring plate 161 and the second ring plate 162, thus limiting the rod assembly 141 along the first direction OX by limiting the third ring plate 163 along the first direction OX through the first ring plate 161 and the second ring plate 162.

[0076] See Figure 4 , Figure 5 as well as Figure 7 In one embodiment, the photovoltaic cleaning robot 100 further includes an elastic element 164. The rotating drum 170 also has a first through hole 172 and a second through hole 173. The first through hole 172 is connected to a first strip hole 171, and the second through hole 173 communicates with the first strip hole 171. Both the first through hole 172 and the second through hole 173 are located on the side of the first strip hole 171 near the second wheel assembly 150. One end of the elastic element 164 is connected to or abuts against the first ring plate 161, and the other end is connected to or abuts against the third ring plate 163. When the second wheel assembly 150 is in the first state, the first pin 160 is located within the first through hole 172. When the second wheel assembly 150 is in the second state, the first pin 160 is located within the second through hole 173.

[0077] In this embodiment, one end of the elastic element 164 is connected to or abuts against the first ring plate 161, and the other end is connected to or abuts against the third ring plate 163, thereby causing the third ring plate 163 to always tend to move closer to the second ring plate 162. Simultaneously, when the second wheel assembly 150 is in the first state, the first pin 160 is located within the first through hole 172. When the second wheel assembly 150 is in the second state, the first pin 160 is located within the second through hole 173. Therefore, when switching the second wheel assembly 150 from the first state to the second state, it is necessary to first overcome the elastic force of the elastic element 164, disengage the first pin 160 from the first through hole 172, and allow it to enter the first slotted hole 171. Then, it switches along one end of the first slotted hole 171 to the other end, and then the resistance to the elastic force is released. The elastic element 164 causes the third ring plate 163 to move closer to the second ring plate 162, and the first pin 160 enters the second through hole 173 from the first slotted hole 171. Similarly, when switching the second wheel assembly 150 from the second state to the first state, it is necessary to first overcome the elastic force of the elastic element 164, dislodge the first pin 160 from the second through hole 173 and enter the first strip hole 171, then switch along one end of the first strip hole 171 to the other end of the first strip hole 171, and then release the resistance to the elastic force. The elastic element 164 causes the third ring plate 163 to move closer to the second ring plate 162, and the first pin 160 enters the first through hole 172 from the first strip hole 171. By limiting the first pin 160 through the elastic element 164, the first through hole 172, and the second through hole 173, the second wheel group 150 is limited in the first state and in the second state, so that the second wheel group 150 can stably roll with the surface or side of the photovoltaic module 200, preventing the second shaft 152 from deviating during the rolling of the second wheel group 150, thereby making the mounting and cleaning movement of the photovoltaic cleaning robot 100 more stable.

[0078] See Figure 4 , Figure 5 as well as Figure 6 In one embodiment, the photovoltaic cleaning robot 100 further includes a second pin 165, and the rod assembly 141 includes a first rod 142 and a second rod 143. A conversion groove 144 is formed on one end face of the second rod 143 near the first wheel assembly 130. A second strip-shaped hole 145 extending along a first direction OX is formed in the groove wall of the conversion groove 144. The end of the second rod 143 facing away from the first wheel assembly 130 is connected to a second rotating shaft 152. The first rod 142 passes through a rotating cylinder 170, and the end of the first rod 142 facing away from the first wheel assembly 130 is located within the conversion groove 144. The second pin 165 is connected to the side wall of the end of the first rod 142 facing away from the first wheel assembly 130 and slides in engagement with the side wall of the second strip-shaped hole 145.

[0079] In this embodiment, the rod assembly 141 is divided into a first rod 142 and a second rod 143. The first rod 142 is used to drive the second rod 143 to rotate around the axis of the rod assembly 141. Since the rotating cylinder 170 limits the first rod 142 through the first through hole 172 and the second through hole 173, the first rod 142 will move along the first direction OX during the switching of the second wheel assembly 150. Therefore, the second rod 143 is driven to rotate by the second pin 165 and the side wall of the second strip hole 145. At the same time, the relative movement of the first rod 142 and the second rod 143 along the first direction OX is realized by the sliding engagement of the second pin 165 with the side wall of the second strip hole 145 along the first direction OX. This realizes the operation of the rods separately and also ensures the limiting of the first pin 160 and the movement during switching, making the whole structure more integrated.

[0080] Among them, the elastic element 164 is a spring, which is sleeved on the first rod 142. The elastic element 164 can also be other forms, such as silicone pads or silicone rods, etc., which are elastic components. The specific form is not limited here.

[0081] See Figure 8 In one embodiment, the photovoltaic cleaning robot 100 further includes a first coupling 180, a second coupling 181, a third rotating shaft 182, and a power unit 183. One end of the first coupling 180 is connected to the end of the rotating assembly 140 away from the first wheel set 130, and the other end is connected to the end of the power unit 183 away from the photovoltaic module 200 along a third direction OZ. One end of the second coupling 181 is connected to the third rotating shaft 182, and the other end is connected to the end of the power unit 183 near the photovoltaic module 200 along a third direction OZ. The end of the second coupling 181 away from the power unit 183 along a first direction OX is connected to the second rotating shaft 152.

[0082] Since the first pivot 151 of the first wheel assembly 130 is connected to the end of the boss 111 that is away from the main body 110, if the second wheel assembly 150 rotates only through the rod assembly 141, it will be closer to the main body 110 than the first wheel assembly 130, thus making it impossible for the first wheel assembly 130 and the second wheel assembly 150 to clamp the photovoltaic module 200 between them.

[0083] Therefore, in this embodiment, one end of the first coupling 180 is connected to the end of the rotating assembly 140 away from the first wheel set 130, and the second coupling 181 is connected to the end of the power unit 183 along the third direction OZ towards the photovoltaic module 200. Thus, through the first coupling 180, the second coupling 181, the third rotating shaft 182, and the power unit 183, the second rotating shaft 152 moves away from the main body 110 along the third direction OZ, thereby enabling the first wheel set 130, the second wheel set 150, and the photovoltaic module 200 to be arranged along the first direction OX. This allows the second wheel set 150 to stably clamp the photovoltaic module 200 with the first wheel set 130 when the second wheel set 150 is in the second state, without generating a height difference along the third direction OZ.

[0084] In other embodiments, the second shaft 152 and the third shaft 182 can be moved to a position away from the main body 110 along the third direction OZ by means of two gears meshing in a third direction OZ. The specific method is not limited here.

[0085] See Figure 4 , Figure 5 as well as Figure 6 In one embodiment, the photovoltaic cleaning robot 100 further includes a connector 190 and fasteners (not shown). The connector 190 includes a first connecting portion 191 and a second connecting portion 192 connected together. The end of the first connecting portion 191 facing away from the second connecting portion 192 is connected to the rotating drum 170. The second connecting portion 192 extends along a first direction OX and has a first fastening hole 193. The main body 110 has a second fastening hole on the side near the photovoltaic module 200. The fastener passes through the first fastening hole 193 and the second fastening hole. Thus, the connector 190 and the main body 110 can be detachably connected by the fastener. The second connecting portion 192 can extend in any direction perpendicular to the third direction OZ, which is not limited here, but extending along the first direction OX can ensure that the fastener and the rod assembly 141 are arranged along the third direction OZ, making the connection more stable.

[0086] See Figure 4 , Figure 5 as well as Figure 6 In one embodiment, the photovoltaic cleaning robot 100 includes two connectors 190 and two sets of fasteners. The two connectors 190 are spaced apart along a first direction OX, and two second connecting portions 192 of the two connectors 190 extend in opposite directions. The second connecting portions 192 have a set of first fastening holes 193, and the main body 110 has two sets of second fastening holes on the side near the photovoltaic module 200. The two sets of fasteners, the two sets of first fastening holes 193, and the two sets of second fastening holes correspond one-to-one, and the fasteners pass through the corresponding first fastening holes 193 and the corresponding second fastening holes.

[0087] By arranging at least two connectors 190 along the first direction OX, the rotating drum 170 can be more stably mounted on the main body 110 along the first direction OX, while each second connector 192 is fixed to the main body 110 by a set of fasteners. Preferably, the second connector 192 has at least two sets of first fastening holes 193, and the at least two sets of first fastening holes 193 are arranged at intervals along the second direction OY, thereby enabling the second connector 192 to be stably connected to the main body 110 along the second direction OY.

[0088] See Figure 3 In one embodiment, the photovoltaic cleaning robot 100 further includes multiple bearing seats 166, which are spaced apart along a first direction OX. A rotating component 140 passes through the bearing seats 166, with one end of each bearing seat 166 facing away from the photovoltaic module 200 connected to the main body 110. Thus, multiple points of the rotating component 140 are mounted to the main body 110 via the multiple bearing seats 166 along the first direction OX, enabling the rotating component 140 to rotate more stably around its axis.

[0089] Specifically, the second rod 143 is sequentially inserted into multiple bearing seats 166, and the multiple bearing seats 166 are evenly spaced along the first direction OX, so that the first rod 142 is rotatably connected to the main body 110 through the rotating cylinder 170, and the second rod 143 is rotatably connected to the main body 110 through the bearing seats 166. The bearing seats 166 have the function of reducing rotational friction.

[0090] Specifically, the end of the first rod 142 opposite to the second rod 143 is provided with a handle.

[0091] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0092] 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 patent application. 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 photovoltaic cleaning robot for cleaning photovoltaic modules, characterized in that, The photovoltaic cleaning robot includes: a main body, a cleaning unit, a first wheel assembly, a rotating component, and a second wheel assembly; The main body has protrusions on both sides along the first direction, which are close to the photovoltaic module. The first axle of the first wheel assembly is connected to the end of the protrusion away from the main body and rolls with the side wall of the photovoltaic module along the second direction. The cleaning part is located on the side of the main body close to the photovoltaic module. The rotating assembly is rotatably connected to the main body about an axis in a first direction. The end of the rotating assembly opposite to the first wheel set along the first direction is connected to the second shaft of the second wheel set, so that the second wheel set has a first state and a second state. When the second wheel assembly is in the first state, the second rotating shaft extends along the second direction, and the second wheel assembly rolls around the second rotating shaft in cooperation with the surface of the photovoltaic module. When the second wheel assembly is in the second state, the second shaft extends in a third direction, and the second wheel assembly rolls around the second shaft in cooperation with the side wall of the photovoltaic module; The third direction is the thickness direction of the photovoltaic module, and the first direction, the second direction, and the third direction are perpendicular to each other.

2. The photovoltaic cleaning robot according to claim 1, characterized in that, The photovoltaic cleaning robot also includes a rotating drum, which is connected to the main body, and the rotating component passes through the rotating drum and rotates in cooperation with the rotating drum.

3. The photovoltaic cleaning robot according to claim 2, characterized in that, The photovoltaic cleaning robot also includes a first pin, the rotating assembly includes a rod group, the first pin is connected to the side wall of the rod group, the side wall of the rotating drum is provided with a first strip hole around the circumference of the rotating drum, and the first pin passes through the first strip hole and slides in cooperation with the side wall of the first strip hole. When the second wheel assembly is in the first state, the first pin is located at one end of the first slot; When the second wheel assembly is in the second state, the first pin is located at the other end of the first strip hole.

4. The photovoltaic cleaning robot according to claim 3, characterized in that, The photovoltaic cleaning robot also includes: a first ring plate, a second ring plate, and a third ring plate; The outer periphery of the first ring plate is connected to the inner wall of the end of the rotating cylinder near the first wheel assembly, and the outer periphery of the first ring plate is in clearance fit with the rod assembly; The outer periphery of the second ring plate is connected to the inner wall of the end of the rotating drum opposite to the first wheel assembly, and the outer periphery of the second ring plate is in clearance fit with the rod assembly; The inner circumference of the third ring plate is connected to the outer wall of the rod assembly, and the outer circumference of the third ring plate is slidably engaged with the inner wall of the rotating cylinder. The third ring plate is located between the first ring plate and the second ring plate.

5. The photovoltaic cleaning robot according to claim 4, characterized in that, The photovoltaic cleaning robot also includes elastic components; The rotating drum is also provided with a first through hole and a second through hole. The first through hole is connected to the first strip hole, and the second through hole is connected to the first strip hole. Both the first through hole and the second through hole are located on the side of the first strip hole closer to the second wheel assembly. One end of the elastic element is connected to or abuts against the first ring plate, and the other end is connected to or abuts against the third ring plate; When the second wheel assembly is in the first state, the first pin is located inside the first through hole; When the second wheel assembly is in the second state, the first pin is located in the second through hole.

6. The photovoltaic cleaning robot according to claim 5, characterized in that, The photovoltaic cleaning robot also includes a second pin, and the lever assembly includes a first lever and a second lever; The second rod has a conversion groove on one end face near the first wheel set, and the groove wall of the conversion groove has a second strip-shaped hole extending along the first direction. The end of the second rod away from the first wheel set is connected to the second shaft. The first rod passes through the rotating cylinder, and the end of the first rod opposite to the first wheel set is located in the conversion groove. The second pin is connected to the side wall of the end of the first rod opposite to the first wheel set and slides in cooperation with the side wall of the second strip hole.

7. The photovoltaic cleaning robot according to claim 1, characterized in that, The photovoltaic cleaning robot also includes a first coupling, a second coupling, a third rotating shaft, and a power unit; One end of the first coupling is connected to the end of the rotating assembly away from the first wheel assembly, and the other end is connected to the end of the power unit away from the photovoltaic module along the third direction. One end of the second coupling is connected to the third rotating shaft, and the other end is connected to the end of the power unit close to the photovoltaic module along the third direction. The end of the second coupling away from the power unit along the first direction is connected to the second rotating shaft.

8. The photovoltaic cleaning robot according to claim 2, characterized in that, The photovoltaic cleaning robot also includes connectors and fasteners; The connector includes a first connecting part and a second connecting part connected to each other. The end of the first connecting part opposite to the second connecting part is connected to the rotating drum. The second connecting part extends along the first direction and has a first fastening hole. The main body has a second fastening hole on the side near the photovoltaic module. The fastener passes through the first fastening hole and the second fastening hole.

9. The photovoltaic cleaning robot according to claim 8, characterized in that, The photovoltaic cleaning robot includes two connectors and two sets of fasteners; The two connectors are spaced apart along the first direction, and the two second connecting portions of the two connectors extend in directions away from each other. The second connecting part has a set of first fastening holes, and the main body has two sets of second fastening holes on the side close to the photovoltaic module. The two sets of fasteners, the two sets of first fastening holes and the two sets of second fastening holes correspond one to one. The fasteners pass through the corresponding first fastening holes and the corresponding second fastening holes.

10. The photovoltaic cleaning robot according to claim 1, characterized in that, The photovoltaic cleaning robot also includes multiple bearing seats, which are spaced apart along the first direction. The rotating component passes through the bearing seats, and the end of the bearing seat opposite to the photovoltaic component is connected to the main body.

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