Walking assembly and photovoltaic cleaning robot

Abstract

The walking assembly comprises a walking wheel body arranged on the photovoltaic cleaning robot, the walking wheel body comprises a first wheel body and a second wheel body which are coaxially and fixedly arranged, the end, away from the second wheel body, of the first wheel body is used for being in transmission connection with the photovoltaic cleaning robot, and the second wheel body is constructed into a conical wheel; the large-diameter end of the conical wheel faces the first wheel body, and the diameter of the large-diameter end of the conical wheel does not exceed the diameter of the first wheel body. Grooves which are arranged in the circumferential direction are formed in the walking outer ring of the walking wheel body, and the arrangement positions of the grooves in the walking wheel body correspond to the installation positions of the obstacle pieces so that the grooves can avoid the obstacle pieces. Therefore, the situation that the service life of the photovoltaic cleaning robot is affected due to the fact that the walking assembly collides with the obstacle piece is avoided, and the adaptability of the photovoltaic cleaning robot to the building environment of the photovoltaic assembly is greatly improved.

Description

Technical Field

[0001] This application relates to the field of photovoltaic cleaning equipment technology, and more specifically, to a walking component and a photovoltaic cleaning robot. Background Technology

[0002] During the implementation of photovoltaic power station projects, the installation of photovoltaic panels requires the connection of cables and control equipment. Components such as brackets, bracket purlins, cable trays, and external guide rails are erected between the photovoltaic panels to fix them in place. However, the installation of these components inevitably results in the presence of bolts and other obstacles. These obstacles can sometimes cause the walking components of the photovoltaic cleaning robot to be bumped or knocked during operation, seriously affecting the service life of the photovoltaic cleaning robot.

[0003] In summary, how to solve the problem that the walking components of photovoltaic cleaning robots are prone to colliding with obstacles during operation, thus affecting the service life of the photovoltaic cleaning robots, has become a technical problem that urgently needs to be solved by those skilled in the art. Utility Model Content

[0004] In view of this, this application provides a walking component and a photovoltaic cleaning robot to solve the problem that the walking component of the photovoltaic cleaning robot is prone to collision with obstacles during operation, which affects the service life of the photovoltaic cleaning robot.

[0005] To achieve the above objectives, this application provides the following technical solution:

[0006] A walking component includes a walking wheel body disposed on a photovoltaic cleaning robot. The walking wheel body includes a first wheel body and a second wheel body coaxially fixedly disposed. The end of the first wheel body away from the second wheel body is used for transmission connection with the photovoltaic cleaning robot. The second wheel body is configured as a conical wheel. The large-diameter end of the conical wheel faces the first wheel body, and the diameter of the large-diameter end of the conical wheel does not exceed the diameter of the first wheel body.

[0007] The outer circumferential groove of the walking wheel body is provided, and the groove is positioned on the walking wheel body in a manner that corresponds to the installation position of the obstacle, so that the groove can avoid the obstacle.

[0008] In some embodiments of this application, the groove is disposed on the outer circumference of the first wheel body, and the large-diameter end of the conical wheel is disposed on the outer end of the first wheel body in a coaxial manner.

[0009] In some embodiments of this application, the first wheel and the second wheel are constructed as an integral structure; or, the first wheel and the second wheel are constructed as a separate connected structure.

[0010] In some embodiments of this application, the groove is disposed on the outer rim of the first wheel body at an end away from the second wheel body;

[0011] Alternatively, the groove may be provided on one end of the outer rim of the first wheel near the second wheel;

[0012] Alternatively, the groove may be located at the center of the outer circumference of the first wheel.

[0013] In some embodiments of this application, the first wheel body includes a first sub-wheel body and a second sub-wheel body coaxially connected, the second sub-wheel body being coaxially connected to the large-diameter end of the conical wheel; wherein, the groove is disposed on the outer travel ring of the first sub-wheel body and / or the outer travel ring of the second sub-wheel body.

[0014] In some embodiments of this application, the first sub-wheel body and the second sub-wheel body are constructed as an integral structure; or, the first sub-wheel body and the second sub-wheel body are constructed as a separate structure.

[0015] In some embodiments of this application, the groove is configured as a U-shaped groove, a trapezoidal groove, a V-shaped groove, or an arc-shaped groove.

[0016] In some embodiments of this application, the groove is a groove structure made by removing material from the outer rim of the first wheel body;

[0017] Alternatively, the groove and the wheel body may be integrally cast.

[0018] In some embodiments of this application, the walking wheel body includes a walking wheel axle, the first wheel body and the second wheel body are spaced apart on the walking wheel axle, and the groove is an installation interval formed between the first wheel body and the second wheel body.

[0019] To address the issue of the photovoltaic cleaning robot's lifespan being affected by collisions between its walking components and obstacles during operation, this application provides a walking component that includes a walking wheel body mounted on the photovoltaic cleaning robot. The walking wheel body comprises a first wheel and a second wheel coaxially fixed. The end of the first wheel, furthest from the second wheel, is used for transmission connection with the photovoltaic cleaning robot. The second wheel is constructed as a conical wheel, with its large-diameter end facing the first wheel, and the diameter of the large-diameter end of the conical wheel not exceeding the diameter of the first wheel. A circumferentially arranged groove is provided on the outer circumference of the walking wheel body, and the groove's position on the walking wheel body corresponds to the installation position of the obstacle, enabling the groove to avoid the obstacle. By designing the walking component with the aforementioned structure, the outer circumferential grooves on the walking wheel body correspond to the installation positions of obstacles along the walking wheel's path. This allows the grooves to avoid obstacles as the walking wheel body moves along the path, preventing collisions that could affect the robot's lifespan and significantly improving its adaptability to the photovoltaic module's installation environment. Furthermore, the conical shape of the second wheel provides additional support when encountering inclined obstacles, ensuring stable passage. This also prevents damage to the photovoltaic modules from the fixed-diameter walking wheel edges when the robot bends them. This combination not only enhances the robot's obstacle avoidance capabilities but also effectively extends its lifespan.

[0020] On the other hand, this application also provides another walking component, including a walking wheel body disposed on a photovoltaic cleaning robot. The walking wheel body includes a walking wheel axle and a walking wheel body disposed on the walking wheel axle. The walking wheel body is constructed as a conical wheel. An installation gap is formed between the large-diameter end of the conical wheel and the walking frame of the photovoltaic cleaning robot. The position of the installation gap corresponds to the installation position of the obstacle, so that the installation gap can avoid the obstacle. By designing the walking component with the aforementioned structure, the installation gap formed between the large-diameter end of the conical wheel and the walking frame of the photovoltaic cleaning robot corresponds to the installation position of obstacles. This allows the walking wheel to avoid obstacles as it travels along the path, preventing collisions that could affect the robot's lifespan and significantly improving its adaptability to the photovoltaic module's installation environment. Furthermore, the conical wheel design provides additional support when encountering inclined obstacles, ensuring stable passage. It also prevents damage to the photovoltaic modules from the fixed-diameter wheels when the robot bends them. This combination not only enhances the robot's obstacle avoidance capabilities but also effectively extends its lifespan.

[0021] Furthermore, this application also provides a photovoltaic cleaning robot, including a walking frame and walking components disposed at both ends of the bottom side of the walking frame. The walking components are the walking components described in any of the above solutions. Since the aforementioned walking components have the above-mentioned technical effects, the photovoltaic cleaning robot with such walking components should also have the corresponding technical effects, which will not be elaborated here.

[0022] The technical features mentioned above, those to be mentioned below, and those shown individually in the accompanying drawings can be combined arbitrarily, provided that the combined technical features are not contradictory. All feasible combinations of features are the technical content explicitly described herein. Any one of the multiple sub-features contained in the same statement can be applied independently, without necessarily being applied together with other sub-features. Attached Figure Description

[0023] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0024] Figure 1This is a schematic diagram of a first structure of the walking component provided in an embodiment of this application;

[0025] Figure 2 for Figure 1 A schematic diagram of the split structure of the mid-travel component;

[0026] Figure 3 This is a schematic diagram of the split structure of the second type of walking component provided in the embodiments of this application;

[0027] Figure 4 This is a schematic diagram of the first structure of the photovoltaic cleaning robot that walks on the photovoltaic panel according to an embodiment of this application;

[0028] Figure 5 for Figure 4 A partially enlarged schematic diagram of the walking component at one end of the walking frame of the Zhongguang Photovoltaic sweeping robot;

[0029] Figure 6 for Figure 4 A partially enlarged schematic diagram of the walking component at the other end of the walking frame of the Zhongguang Photovoltaic sweeping robot;

[0030] Figure 7 This is a schematic diagram of a second structure for a photovoltaic cleaning robot to walk on a photovoltaic panel, as provided in an embodiment of this application.

[0031] Figure 8 for Figure 7 A partially enlarged schematic diagram of the walking component at one end of the walking frame of the Zhongguang Photovoltaic sweeping robot;

[0032] Figure 9 for Figure 7 A partially enlarged schematic diagram of the walking component at the other end of the walking frame of the Zhongguang Photovoltaic sweeping robot.

[0033] in, Figures 1-9 middle:

[0034] 1-Walking wheel body;

[0035] 10-groove;

[0036] 11-First Round Body;

[0037] 111 - First sub-wheel body;

[0038] 112 - Second sub-wheel body;

[0039] 12-Second round body;

[0040] 13-Traveling axle;

[0041] 14-Walking wheels;

[0042] 15- Installation gap;

[0043] 2- Photovoltaic cleaning robot;

[0044] 21-Walking frame;

[0045] 3- Photovoltaic panels;

[0046] 31-Obstacles;

[0047] 4- Photovoltaic support. Detailed Implementation

[0048] The core of this application is to provide a walking component and a photovoltaic cleaning robot to solve the problem that the walking component of the photovoltaic cleaning robot is prone to collisions with obstacles during operation, which affects the service life of the photovoltaic cleaning robot.

[0049] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0050] In existing technologies, brackets, bracket purlins, cable trays, and external guide rails are constructed between photovoltaic panels to secure them. However, the construction of these components inevitably introduces bolts and other obstacles. These obstacles can sometimes cause the walking mechanism of the photovoltaic cleaning robot to be bumped or knocked over during operation, severely impacting the robot's lifespan. Current obstacle avoidance methods often involve using external guide rails to guide the photovoltaic cleaning robot to avoid obstacles. However, laying guide rails increases costs, and some sites cannot utilize this method to avoid obstacles.

[0051] Based on this, one embodiment of this application provides a walking component, referring to... Figures 1-6Specifically, it can include a walking wheel body 1 installed on the photovoltaic cleaning robot 2. The walking wheel body 1 can be installed at both ends of the bottom side of the walking frame 21 of the photovoltaic cleaning robot 2 via walking wheel axles 13. The walking frame 21 is provided with a corresponding drive mechanism. The driving mechanism drives the walking wheel axles 13 to rotate, which in turn drives the walking wheel body 1 to rotate, thereby realizing the walking function. In the walking assembly provided in this application, the outer ring of the walking wheel body 1 is provided with a circumferentially arranged groove 10. The walking path of the walking wheel body 1 has an obstacle 31 for installing and fixing the photovoltaic panel 3. The obstacle 31 mainly refers to the related components for installing and fixing the photovoltaic panel 3, such as fasteners. The setting position of the groove 10 on the walking wheel body 1 corresponds to the installation position of the obstacle 31, so that the groove 10 can avoid the obstacle 31 when the walking wheel body 1 moves along the walking path.

[0052] In practical applications, by designing the walking component with the above-mentioned structure, the outer ring of the walking wheel body 1 is provided with a circumferentially arranged groove 10. The position of the groove 10 on the walking wheel body 1 corresponds to the installation position of the obstacle 31 on the walking path of the walking wheel body 1. As a result, when the photovoltaic cleaning robot 2 is running, the groove 10 can avoid the obstacle 31 when the walking wheel body 1 walks along the walking path. That is, the walking component can avoid the obstacle 31 through the groove 10, thereby avoiding the situation where the walking component collides with the obstacle 31 and affects the service life of the photovoltaic cleaning robot 2. This greatly improves the adaptability of the photovoltaic cleaning robot 2 to the photovoltaic module installation environment.

[0053] It is worth mentioning that the shape of the notch in the groove 10 is related to the outline of the obstacle 31. For example, when the walking path of the walking wheel body 1 is a straight line, the plane perpendicular to the straight line is defined as the projection plane. The orthographic projection of the notch in the groove 10 in the projection plane is defined as the first projection, and the orthographic projection of the obstacle 31 on the walking path in the projection plane is defined as the second projection. In order for the notch in the groove 10 to avoid the obstacle 31 on the walking path, it is necessary to ensure that the second projection is located within the first projection and maintains a certain gap with the first projection.

[0054] In some specific implementation plans, refer to Figure 1 and Figure 2As shown, the aforementioned walking wheel body 1 may specifically include a first wheel body 11 and a second wheel body 12. The first wheel body 11 can be mounted on the bottom end of the walking frame 21 of the photovoltaic cleaning robot 2 via a walking wheel axle 13. A groove 10 is provided on the outer ring of the first wheel body 11. The second wheel body 12 is constructed as a conical wheel. The large-diameter end of the conical wheel is coaxially connected to the outer end of the first wheel body 11. Here, the outer end refers to the end of the first wheel body 11 away from the walking frame 21. The diameter of the large-diameter end of the conical wheel does not exceed the diameter of the first wheel body 11. That is, the diameter of the large-diameter end of the conical wheel can be equal to the diameter of the first wheel body 11, or the diameter of the large-diameter end of the conical wheel can be smaller than the diameter of the first wheel body 11. By designing the walking wheel body 1 into the above-mentioned structural form, the groove 10 provided on the first wheel body 11 can help avoid obstacles 31. At the same time, since the second wheel body 12 is constructed as a conical wheel, it can provide additional support when encountering inclined obstacles, ensuring that the robot passes through stably. It also prevents the fixed-diameter walking wheel edge from damaging the photovoltaic module when the cleaning robot bends it. This combination not only improves the robot's obstacle avoidance ability, but also effectively extends its service life.

[0055] It should be noted that the first wheel body 11 and the second wheel body 12 can be constructed as a single unit, such as by integral machining, or they can be designed as separate connecting structures, such as by welding, fastener connection, shaft connection, and end locking. In practical applications, the configuration can be selected according to actual needs, and no further specific limitations are made here.

[0056] In some specific implementation plans, refer to Figures 1-3 As shown, the groove 10 can be specifically positioned on the outer circumference of the first wheel 11, away from the second wheel 12; it can also be positioned on the outer circumference of the first wheel 11, closer to the second wheel 12; or it can be positioned in the middle of the outer circumference of the first wheel 11. The specific arrangement of the groove 10 can be designed based on the specific position of the obstacle 31 on the photovoltaic panel 3 corresponding to the walking path of the photovoltaic cleaning robot, and is not further limited here.

[0057] In some other specific implementation schemes, refer to Figure 3As shown, the first wheel body 11 may specifically include a first sub-wheel body 111 and a second sub-wheel body 112 coaxially connected. The second sub-wheel body 112 is coaxially connected to the large-diameter end of the conical wheel. The groove 10 is disposed on the outer travel ring of the first sub-wheel body 111 and / or the outer travel ring of the second sub-wheel body 112. That is, the groove 10 may be disposed on the outer travel ring of the first sub-wheel body 111 or on the outer travel ring of the second sub-wheel body 112. Alternatively, a portion of the groove 10 may be disposed on the outer travel ring of the first sub-wheel body 111 and another portion on the outer travel ring of the second sub-wheel body 112. In actual application, the arrangement can be selected according to actual needs, and no more specific limitations are made here.

[0058] It should be noted that the first sub-wheel body 111 and the second sub-wheel body 112 can be constructed as a single unit, such as by machining; or they can be constructed as separate units, connected by a connector. In practical applications, the arrangement can be chosen according to actual needs, and no further specific limitations are made here.

[0059] It should be noted that the groove 10 mentioned above can be constructed into a U-shaped groove, trapezoidal groove, V-shaped groove or arc groove, as long as it can meet the requirement of avoiding the obstacle object 31, and the specific shape is not limited.

[0060] Furthermore, the aforementioned groove 10 can be a groove structure created on the outer ring of the wheel body 1 by removing material, such as through machining; or the groove 10 can be integrally cast with the wheel body 1. The arrangement can be chosen according to actual needs in practical applications, and no further specific limitations are made here.

[0061] In some other specific implementation schemes, refer to Figure 7 and Figure 8 As shown, the aforementioned wheel body 1 may specifically include a wheel axle 13. A first wheel body 11 and a second wheel body 12 are spaced apart on the wheel axle 13, with the groove 10 forming the mounting gap between the first wheel body 11 and the second wheel body 12. The mounting of the first wheel body 11 and the second wheel body 12 on the wheel axle 13 requires axial constraint to ensure that they maintain the mounting gap. By designing this structure, not only are the machining steps for the groove 10 eliminated, but the two wheels also have a larger clearance space.

[0062] For example, refer to Figure 7 and Figure 8As shown, the second wheel 12 is located on the outer end of the first wheel 11, that is, on the side away from the connection between the first wheel 11 and the walking frame 21. The second wheel 12 is constructed as a conical wheel, with the larger diameter end of the conical wheel facing the first wheel 11. By constructing the second wheel 12 as a conical wheel, additional support can be provided when encountering inclined obstacles, ensuring the robot passes through stably. At the same time, it also prevents the fixed-diameter walking wheel from damaging the photovoltaic modules when the cleaning robot bends them. This combination not only improves the robot's obstacle avoidance ability but also effectively extends its service life.

[0063] In another embodiment, this application also provides another walking component, referring to... Figure 7 and Figure 9 As shown, the walking assembly includes a walking wheel body 1 mounted on the walking frame 21 of the photovoltaic cleaning robot 2. The walking wheel body 1 may specifically include a walking wheel axle 13 and a walking wheel body 14 mounted on the walking wheel axle 13. The walking wheel body 14 is constructed as a conical wheel, and an installation gap 15 is formed between the large diameter end of the conical wheel and the walking frame 21. The position of the installation gap 15 corresponds to the installation position of the obstacle 31, so that the installation gap 15 can avoid the obstacle 31. By designing the walking component with the above-described structure, an installation gap 15 is formed between the large-diameter end of the conical wheel and the walking frame 21 of the photovoltaic cleaning robot. The position of the installation gap 15 corresponds to the installation position of the obstacle 31. As the photovoltaic cleaning robot runs, the installation gap 15 can avoid the obstacle 31 when the walking wheel body 1 walks along the walking path. That is, the walking component can avoid the obstacle 31 through the installation gap 15, thereby avoiding the situation where the walking component collides with the obstacle and affects the service life of the photovoltaic cleaning robot. This greatly improves the adaptability of the photovoltaic cleaning robot to the building environment of the photovoltaic module. At the same time, since the walking wheel body 14 is constructed as a conical wheel, it can provide additional support when encountering inclined obstacles, ensuring that the robot passes through stably. It also prevents the fixed-diameter walking wheel edge from damaging the photovoltaic module when the cleaning robot bends the photovoltaic module. This combination not only improves the robot's obstacle avoidance ability, but also effectively extends its service life.

[0064] On the other hand, refer to Figure 4 and Figure 7 As shown, this application also provides a photovoltaic cleaning robot 2, including a walking frame 21 and walking components disposed at both ends of the bottom side of the walking frame 21, wherein the walking components are the walking components described in any of the above-mentioned solutions. Since the aforementioned walking components have the above-mentioned technical effects, the photovoltaic cleaning robot 2 with such walking components should also have the corresponding technical effects, which will not be elaborated here.

[0065] It should be noted that the various embodiments in this specification are described in a progressive manner, with each embodiment focusing on the differences from other embodiments. The same or similar parts between the various embodiments can be referred to each other.

[0066] As indicated in this application and claims, unless the context clearly indicates otherwise, the words "a," "an," "a," and / or "the" are not specifically singular and may include the plural. Generally, the terms "comprising" and "including" only indicate the inclusion of expressly identified steps and elements, which do not constitute an exclusive list, and the method or apparatus may also include other steps or elements. An element defined by the phrase "comprising an..." does not exclude the presence of other identical elements in the process, method, product, or apparatus that includes the element.

[0067] In the description of the embodiments of this application, unless otherwise stated, " / " means "or", for example, A / B can mean A or B; "and / or" in this document is merely a description of the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can represent: A existing alone, A and B existing simultaneously, and B existing alone. Furthermore, in the description of the embodiments of this application, "multiple" refers to two or more.

[0068] This document uses specific examples to illustrate the principles and implementation methods of this application. The descriptions of the embodiments above are only for the purpose of helping to understand the core ideas of this application. It should be noted that those skilled in the art can make several improvements and modifications to this application without departing from the principles of this application, and these improvements and modifications also fall within the protection scope of the claims of this application.

Claims

1. A walking component, characterized in that, The system includes a walking wheel body (1) disposed on the photovoltaic cleaning robot (2). The walking wheel body (1) includes a first wheel body (11) and a second wheel body (12) coaxially fixed. The end of the first wheel body (11) away from the second wheel body (12) is used for transmission connection with the photovoltaic cleaning robot (2). The second wheel body (12) is constructed as a conical wheel. The large diameter end of the conical wheel faces the first wheel body (11), and the diameter of the large diameter end of the conical wheel does not exceed the diameter of the first wheel body (11). The outer circumferential groove (10) is provided on the walking wheel body (1), and the groove (10) is positioned on the walking wheel body (1) in a manner corresponding to the installation position of the obstacle (31), so that the groove (10) can avoid the obstacle (31).

2. The walking component as described in claim 1, characterized in that, The groove (10) is provided on the outer ring of the first wheel body (11), and the large diameter end of the conical wheel is provided on the outer end of the first wheel body (11) in a coaxial manner.

3. The walking component as described in claim 2, characterized in that, The first wheel (11) and the second wheel (12) are constructed as an integral structure; or, the first wheel (11) and the second wheel (12) are constructed as a separate connected structure.

4. The walking component as described in claim 2, characterized in that, The groove (10) is provided on the outer circumference of the first wheel (11) at one end away from the second wheel (12); Alternatively, the groove (10) is provided on the outer circumference of the first wheel (11) near one end of the second wheel (12); Alternatively, the groove (10) may be located at the middle of the outer circumference of the first wheel (11).

5. The walking component as described in claim 2, characterized in that, The first wheel body (11) includes a first sub-wheel body (111) and a second sub-wheel body (112) coaxially connected, and the second sub-wheel body (112) is coaxially connected to the large diameter end of the conical wheel; wherein, the groove (10) is provided on the outer travel ring of the first sub-wheel body (111) and / or the outer travel ring of the second sub-wheel body (112).

6. The walking component as described in claim 5, characterized in that, The first sub-wheel body (111) and the second sub-wheel body (112) are constructed as an integral structure; or, the first sub-wheel body (111) and the second sub-wheel body (112) are constructed as a separate structure.

7. The walking component as described in claim 2, characterized in that, The groove (10) is constructed as a U-shaped groove, a trapezoidal groove, a V-shaped groove or an arc-shaped groove.

8. The walking component as described in any one of claims 2-7, characterized in that, The groove (10) is a groove structure made by removing material from the outer circumference of the first wheel (11); Alternatively, the groove (10) and the walking wheel body (1) are integrally cast.

9. The walking assembly as claimed in claim 1, characterized in that, The walking wheel body (1) includes a walking wheel axle (13), the first wheel body (11) and the second wheel body (12) are spaced apart on the walking wheel axle (13), and the groove (10) is the installation interval formed between the first wheel body (11) and the second wheel body (12).

10. A walking component, characterized in that, The system includes a walking wheel body (1) installed on the photovoltaic cleaning robot (2). The walking wheel body (1) includes a walking wheel axle (13) and a walking wheel body (14) installed on the walking wheel axle (13). The walking wheel body (14) is constructed as a conical wheel. An installation gap (15) is formed between the large diameter end of the conical wheel and the walking frame (21) of the photovoltaic cleaning robot (2). The position of the installation gap (15) corresponds to the installation position of the obstacle (31) so that the installation gap (15) can avoid the obstacle (31).

11. A photovoltaic cleaning robot, comprising a walking frame (21) and walking components disposed at both ends of the bottom side of the walking frame (21), characterized in that, The walking component is the walking component as described in any one of claims 1-10.

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