Cleaning robot

Abstract

The utility model discloses a cleaning robot, which belongs to the field of photovoltaic panel cleaning, and comprises a vehicle body, a cleaning device, a driving device and a driving device, and the vehicle body comprises a long-strip-shaped vehicle frame; the battery box is installed on the frame and located in the middle of the frame in the extending direction of the frame; the plurality of driving devices are mounted at the bottom of the frame, and the plurality of driving devices are arranged on the two sides of the battery box and are adjacent to the battery box; the two ends of the sweeping device are installed at the two ends of the bottom of the vehicle frame respectively. The driving device and the battery box are arranged in the middle of the frame, 80%-90% of the weight of the vehicle body is concentrated in the middle of a photovoltaic panel array to be cleaned, and therefore it is guaranteed that the two ends of the photovoltaic panel array to be cleaned are not pressed by gravity, the photovoltaic panel array to be cleaned is not prone to deformation and damage, and the cleaning efficiency is improved. And the method has wide market commercial value.

Description

Technical Field

[0001] This utility model relates to the field of photovoltaic panel cleaning technology, specifically to a cleaning robot. Background Technology

[0002] Solar energy, as a renewable and clean energy source, has become a significant force in the global energy transformation. Solar photovoltaic (PV) panel arrays are relatively thin and their surfaces easily accumulate dirt such as sand and dust. Therefore, proper and scientific cleaning of solar PV panel arrays is necessary to improve power plant power generation. Currently, cleaning robots are commonly used to clean solar PV panels.

[0003] Cleaning robots typically consist of a frame, self-charging photovoltaic panels, a battery box, and a drive unit. In existing technologies, the drive unit is located at both ends of the frame, the battery box is embedded near the end of the frame, and the self-charging photovoltaic panels are directly laid on the surface of the frame (see patent CN117978077A). Because the drive units at both ends of the frame and the battery box near the ends are relatively heavy, this arrangement inevitably results in a heavier frame at both ends, which in turn causes a significant weight burden on the ends of the photovoltaic panel array. Furthermore, the photovoltaic panel array is usually thin, and its ends are suspended without support. Under prolonged pressure from the cleaning robot, the ends of the photovoltaic panel array are highly susceptible to deformation. This can lead to changes in the tilt angle of the photovoltaic panel array, affecting photoelectric conversion efficiency, or even physical damage to the photovoltaic panel array. In addition, the placement of the self-charging photovoltaic panels and battery box directly on the surface of the vehicle frame requires extensive calculations to ensure the stability of the robot's center of gravity. The direct installation of the self-charging photovoltaic panels is also prone to displacement, which can affect the robot's performance.

[0004] Therefore, there is an urgent need to develop a cleaning robot to solve the technical problems of deformation caused by prolonged pressure on both ends of the photovoltaic panel array and to improve the working stability of the cleaning robot. Utility Model Content

[0005] The first objective of this invention is to provide a cleaning robot to solve the technical problem of photovoltaic panel arrays being deformed by prolonged pressure at both ends, affecting photoelectric conversion efficiency.

[0006] To address this technical problem, this application provides a cleaning robot, comprising:

[0007] The vehicle body includes a long, narrow frame;

[0008] A battery box, which is mounted on the vehicle frame and located at the middle of the vehicle frame in its extending direction;

[0009] Multiple drive units are mounted on the bottom of the vehicle frame, and multiple drive units are located on both sides of the battery box, adjacent to the battery box; and

[0010] The cleaning device is installed at both ends of the bottom of the vehicle frame.

[0011] Furthermore, the frame includes: two parallel end plates; and

[0012] Two parallel long rods; each rod is perpendicularly connected to two end plates at both ends.

[0013] Furthermore, the vehicle body includes:

[0014] Two first support members, each with its two ends connected to two long rods, the battery box being fixedly mounted to the first support member; and

[0015] Two second support members, each with its two ends connected to two long rods, and the drive device is fixedly installed to the second support member.

[0016] Furthermore, the vehicle body includes:

[0017] Two first mounting plates are arranged opposite each other. The top of each first mounting plate is fixedly connected to a second support member. Each first mounting plate is perpendicular to the two long rods. Each first mounting plate includes a first mounting surface and a second mounting surface that are opposite to each other.

[0018] Furthermore, the ratio of the distance h between the two drive units to the total length H of the vehicle frame body is in the range of 1:3 to 1:2.

[0019] Furthermore, the battery box includes:

[0020] Box;

[0021] The battery pack is housed within the casing.

[0022] A motor driver is located inside the housing; the battery pack is connected to the drive motor via the motor driver.

[0023] A power converter is located inside the housing; the battery pack is connected to the photovoltaic panel via the power converter; and

[0024] A control circuit board is located inside the housing; the control circuit board is connected to the motor driver, the power converter and the battery pack respectively.

[0025] Furthermore, the cleaning device includes:

[0026] A roller brush, whose two ends are rotatably connected to the lower half of two end plates; or,

[0027] A strip brush, with its two ends connected to the lower half of two end plates respectively.

[0028] The second objective of this invention is to provide a cleaning robot that solves the technical problem of stable movement of a cleaning robot on a photovoltaic panel array.

[0029] To solve this technical problem, this application provides the following technical solution:

[0030] Each drive unit includes:

[0031] A second mounting plate is disposed opposite to the first mounting plate.

[0032] Two or more wheels, each wheel being rotatably mounted between the first mounting plate and the second mounting plate via an axle;

[0033] A drive motor is mounted to the surface of a first mounting plate; the drive motor includes a power output shaft that passes through the first mounting plate and is connected to the axle of a wheel;

[0034] A ring-shaped track covering the treads of two or more wheels; and

[0035] At least one tensioning assembly, located between any two wheels and connected to the frame, is used to tension the tracks.

[0036] Furthermore, each tensioning component includes:

[0037] The tensioning wheel frame has its upper two ends fixed to the first mounting plate and the second mounting plate, respectively; the bottom surface of the tensioning wheel frame is provided with two grooves.

[0038] Two positioning posts are inserted into two grooves at their upper ends respectively; each positioning post includes a first post and a second post coaxially connected, the diameter of the first post being smaller than the diameter of the second post; the upper end of the second post and the first post are inserted into a groove.

[0039] Two helical springs are located in two grooves, respectively; each helical spring is sleeved outside the first column of a positioning post; one end of each helical spring abuts against the bottom surface of a groove, and the other end abuts against the top surface of a second column; and

[0040] The tensioning wheel is rotatably mounted at both ends to the lower ends of the two positioning posts and abuts against the inner wall of the track.

[0041] Furthermore, the vehicle body includes:

[0042] A driven wheel is rotatably mounted to the side wall of an end plate via an axle and is positioned opposite a wheel; and

[0043] A drive shaft, one end of which is connected to the axle of a wheel, and the other end of which is connected to the axle of the driven wheel.

[0044] Furthermore, the vehicle body includes:

[0045] The first limiting wheel is rotatably mounted to the bottom of an end plate, and the axle of the first limiting wheel is perpendicular to the bottom surface of the end plate;

[0046] A connecting plate, the upper end of which is connected to an end plate, and the lower end of which extends downward; the connecting plate is perpendicular to the extension direction of the long rod;

[0047] A second limiting wheel is rotatably mounted to an L-shaped mounting plate. The axle of the second limiting wheel is perpendicular to the connecting plate and parallel to the extension direction of the long rod.

[0048] The buffer wheel is rotatably mounted to the end plate and is located at the bottom of the surface of the end plate in its extending direction.

[0049] The third objective of this invention is to provide a cleaning robot to solve the problem of unstable installation of photovoltaic panels for charging components.

[0050] To solve this technical problem, this application provides the following technical solution:

[0051] The vehicle body includes:

[0052] Two I-shaped brackets are installed above the middle part of the vehicle frame, with the two I-shaped brackets located on both sides of the battery box;

[0053] A photovoltaic panel is attached to the top of two U-shaped frames and is located directly above the battery box; and

[0054] The substrate is mounted above the vehicle frame; a convex cover is formed in the middle of the housing to cover the battery box; an opening is formed in the middle of the housing, through which the photovoltaic panel passes and is exposed outside the housing.

[0055] Furthermore, each C-shaped frame includes:

[0056] Two vertical plates are arranged opposite each other, and their bottom ends are respectively fixed to the vehicle frame;

[0057] A horizontal plate, whose two ends are vertically connected to the tops of two vertical plates; and

[0058] The bottom surface of the plug-in part is fixed to the top surface of the horizontal plate, and one side of the plug-in part forms a strip-shaped plug-in groove;

[0059] When the two C-shaped frames are arranged opposite each other, the insertion slots of the two C-shaped frames are arranged opposite each other, and the two sides of the photovoltaic panel are respectively inserted into the two insertion slots.

[0060] The fourth objective of this invention is to provide a cleaning robot to solve the technical problem of the robot slipping on the photovoltaic panel array when it is not moving.

[0061] To solve this technical problem, this application provides the following technical solution:

[0062] The vehicle body includes a locking mechanism and a long rod fixedly installed to the frame. The locking mechanism includes a telescopic rod, the central axis of which is parallel to the central axis of the long rod.

[0063] The beneficial technical effects of this utility model are:

[0064] 1. This utility model places the drive unit and battery box in the middle of the vehicle frame, so that 80-90% of the vehicle's weight is concentrated in the middle section of the photovoltaic panel array to be cleaned. The support frame of the photovoltaic panel array is also usually located in the middle section, thus providing sufficient support force. This ensures that the two ends of the photovoltaic panel array to be cleaned are not subjected to gravity pressure or load, thereby ensuring that the photovoltaic panel array to be cleaned is not easily deformed or damaged. This greatly improves the service life and photoelectric conversion efficiency of the photovoltaic panel array, and has broad market commercial value.

[0065] 2. The self-charging photovoltaic panel of this utility model adopts a slot method for positioning, which ensures the positioning accuracy and stability of the photovoltaic panel and overcomes the positioning defect of traditional photovoltaic panels that are easy to loosen due to simple laying.

[0066] 3. The battery box of this utility model is placed directly in the middle of the frame, which is completely different from the arrangement of the battery box and photovoltaic panel on both sides in the prior art. This layout does not require a lot of testing to determine the installation position of the battery box and photovoltaic panel on the frame. Placing the battery box in the middle of the frame directly solves a series of problems caused by the unstable center of gravity, and the overall stability of the cleaning robot is significantly improved.

[0067] 4. The first limiting wheel, the second limiting wheel, the buffer wheel, and the locking mechanism in this utility model ensure the walking stability and safety of the cleaning robot and avoid rigid collisions and slippage problems when not moving. Attached Figure Description

[0068] Figure 1 This is a schematic diagram of the main structure of the cleaning robot of this utility model. Figure 1 ;

[0069] Figure 2 This is a schematic diagram of the main structure of the cleaning robot of this utility model. Figure 2 ;

[0070] Figure 3 This is a schematic diagram of the main structure of the cleaning robot of this utility model. Figure 3 ;

[0071] Figure 4 This is a schematic diagram of the drive device and cleaning device in the cleaning robot of this utility model;

[0072] Figure 5 This is a schematic diagram of the locking mechanism and tensioning assembly in the cleaning robot of this utility model;

[0073] Figure 6 This is an enlarged schematic diagram of the tensioning component structure in the cleaning robot of this utility model;

[0074] Figure 7 This is an exploded view of the overall structure of the cleaning robot of this utility model;

[0075] Figure 8 This is a schematic diagram of the U-shaped frame structure in the cleaning robot of this utility model;

[0076] Explanation of reference numerals in the attached figures.

[0077] 100. Vehicle body; 200. Battery box; 300. Drive unit; 400. Sweeping device;

[0078] 111. End plate; 112. Long rod; 113. First support member; 114. Second support member; 115. First mounting plate;

[0079] 210. Photovoltaic panel; 220. U-shaped frame; 221. Vertical plate; 222. Horizontal plate; 223. Connecting part; 224. Connecting slot; 225. Housing; 226. Cover; 227. Opening;

[0080] 310. Second mounting plate; 320. Wheel; 321. Axle; 330. Track; 340. Drive motor; 350. Tensioning assembly; 351. Tensioning wheel frame; 352. Positioning pin; 353. Tensioning wheel; 360. Driven wheel; 361. Drive shaft; 370. First limit wheel; 380. Second limit wheel; 381. L-shaped mounting plate; 382. Connecting plate; 391. Buffer wheel; 392. L-shaped fixing plate; 393. Locking mechanism; 394. Rotary motor; 395. Telescopic rod; 396. Mounting base; 410. Brush roller; 420. Brush roller shaft. Detailed Implementation

[0081] 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. In addition, it should be understood that the specific embodiments described herein are only for illustration and explanation of this application and are not intended to limit this application. In this application, unless otherwise stated, directional terms such as "up," "down," "left," and "right" generally refer to up, down, left, and right in the actual use or working state of the device, specifically the drawing directions in the accompanying drawings.

[0082] This embodiment provides a cleaning robot, which will be described in detail below. It should be noted that the order of description of the following embodiments is not intended to limit the preferred order of the embodiments of this application. Furthermore, the descriptions of each embodiment have their own emphasis; parts not described in detail in a certain embodiment can be referred to in the relevant descriptions of other embodiments.

[0083] This application provides a cleaning robot that can travel on a smooth, clean surface to clean it. The clean surface can be a photovoltaic panel or an array of photovoltaic panels (this is prior art and will not be described further). The cleaning robot includes:

[0084] Please see Figure 1 The vehicle body 100, the battery box 200 located on the vehicle body 100, two drive units 300 adjacent to both sides of the battery box 200, and a cleaning device 400.

[0085] Please see Figure 2 The vehicle body 100 has an overall elongated frame 110, which includes two parallel end plates 111 and two parallel long rods 112. Both ends of each long rod 112 are vertically connected to the two end plates 111 by fastening screws or similar means. Two first support members 113 are spaced apart in the middle of the two long rods 112. Both ends of each first support member 113 are connected to the two long rods 112 by welding or other means. The battery box 200 is fixedly mounted above the first support members 113. The spacing between the two first support members 113 is adapted to the external dimensions of the battery box 200. The first support members 113 are used for supporting and positioning the battery box 200.

[0086] Two second support members 114 are provided adjacent to each other on both sides of the battery box 200. Each second support member 114 is integrally formed on two long rods 112, and the two drive devices 300 are respectively fixedly installed on the two second support members 114. In this embodiment, the two first support members 113 located in the middle of the frame 110 and spaced apart can reduce the deformation of the frame 110 during long-term use and increase the overall stability of the frame 110. On the other hand, they also provide installation space for the drive devices 300.

[0087] Please see Figure 3 The vehicle body 100 further includes: two opposing first mounting plates 115, the top of each first mounting plate 115 being fixedly connected to the second support member 114 by bolts, and each first mounting plate 115 being vertically arranged between two long rods 112. Each first mounting plate 115 includes a first mounting surface and a second mounting surface that are opposite to each other, and the first mounting surface and the second mounting surface are used for mounting the drive motor and wheels in the drive device 300 described later.

[0088] Please see Figure 3 , Figure 4 Each drive unit 300 includes: a second mounting plate 310, which is disposed opposite to the first mounting plate 115; two wheels 320, each wheel 320 being rotatably mounted between the first mounting surface of the first mounting plate 115 and the second mounting plate 310 via an axle 321, the treads of the two wheels 320 being covered with annular tracks 330, the annular tracks 330 increasing the contact area between the cleaning robot and the photovoltaic panel array, thus enhancing the stability of the cleaning robot; and a drive motor 340, mounted on the second mounting surface of the first mounting plate 115, the drive motor 340 including a power output shaft (not shown in the figure), the power output shaft passing through the first mounting plate 115 and connected to the axle 321 of one of the wheels 320.

[0089] Please see Figure 5 , Figure 6To ensure that the annular track 330 always travels in a taut state, two sets of tensioning assemblies 350 are provided between the two wheels 320. Each tensioning assembly 350 includes: a tensioning wheel frame 351, the two ends of which are fixed to the first mounting plate 115 and the second mounting plate 310 respectively. The bottom surface of the tensioning wheel frame 351 has two grooves (not shown in the figure); two positioning pins 352, the upper ends of which are respectively inserted into the two grooves. Each positioning pin 352 includes a first pin and a second pin coaxially connected. The diameter of the first pin is smaller than the diameter of the second pin. The upper end of the second pin and the first pin are inserted into a groove; two helical springs (not shown in the figure) are located in the two grooves respectively. Each helical spring is sleeved outside the first pin of the positioning pin 352. One end of each helical spring abuts against the bottom surface of a groove, and the other end abuts against the top surface of a second pin; a tensioning wheel 353, the two ends of which are rotatably mounted to the lower ends of the two positioning pins 352 and abut against the inner wall of the track 330. In this embodiment, a helical spring is used to abut against the bottom surface of the groove and the top surface of the second column. Since the positioning column 352 has a certain degree of freedom in the vertical direction, the height of the tensioning wheel 353 is adjustable, thereby ensuring that the track 330 always remains taut.

[0090] Please see Figure 4 To maintain vehicle balance, the vehicle body 100 is equipped with driven wheels 360. These driven wheels 360 are rotatably mounted to the side wall of an end plate 111 via axles and are mounted on the same central axis as a wheel 320. The axles of the driven wheels 360 and the wheel 320 are connected to the drive shaft 361 via locking pins. When the wheel 320 is driven by the motor 340, it drives the drive shaft 361 to rotate synchronously, thereby causing the driven wheels 360 to rotate synchronously. Because the cleaning robot has driven wheels 360 at the end plate 111, the contact area between the cleaning robot and the photovoltaic panel array to be cleaned at the edge is increased, further enhancing the overall grip of the cleaning robot and preventing problems such as tipping over or instability.

[0091] Please see Figure 3 Because the photovoltaic panel array to be cleaned is extremely smooth, in order to further prevent the cleaning robot from slipping or other accidents, this embodiment is equipped with four first limiting wheels 370, arranged in pairs, and rotatably mounted to the bottom of the two end plates 111. The axles of the first limiting wheels 370 are perpendicular to the bottom surface of the end plates 111. When the cleaning robot is working, the outer peripheral walls of the first limiting wheels 370 can abut against the edge of the photovoltaic panel array, thereby preventing the cleaning robot from slipping or falling while moving on the photovoltaic panel array, improving safety and stability during cleaning.

[0092] The vehicle body 100 is further provided with two second limiting wheels 380, which are installed below a wheel 320 via an L-shaped mounting plate 381 and a connecting plate 382. The connecting plate 382 is located on the side wall of the end plate 111, with its upper end fixedly connected to the end plate 111 and its lower end extending downwards. The connecting plate 382 is perpendicular to the extension direction of the long rod 112. The horizontal part of the L-shaped mounting plate 381 is fixed to the bottom surface of the end plate 111 by fastening screws, and the vertical part of the L-shaped mounting plate 381 is fixed to the connecting plate 382 by fastening bolts. The bottom of the L-shaped mounting plate 381 is equipped with a second limiting wheel 380 via a rotating shaft (not shown in the figure). The axle of the second limiting wheel 380 is perpendicular to the connecting plate 382 and parallel to the extension direction of the long rod 112. The cooperation between the L-shaped mounting plate 381 and the connecting plate 382 improves the stability of the second limiting wheel 380. During operation, the second limiting wheel 380 is positioned below the photovoltaic panel array to be cleaned as the cleaning robot moves, and passively rotates along the array. The L-shaped mounting plates 381 on both sides suspend the robot body on the side frames of the photovoltaic panel array to be cleaned, thereby preventing the robot body from slipping off the array. In other words, the second limiting wheel 380, the wheel 320 and the first limiting wheel 360 work together to greatly enhance the safety and accuracy of the cleaning robot's movement path.

[0093] Please see Figure 3 The vehicle body also includes two buffer wheels 391, which are rotatably connected to an L-shaped fixed plate 392 via rolling bearings (not shown in the figure). The L-shaped fixed plate 392 is connected to the two side walls of the end plate 111 in its extension direction by fastening screws. The central axis of each buffer wheel 391 is perpendicular to the extension direction of the long rod. The buffer wheel 391 can be made of flexible materials such as rubber.

[0094] Please see Figure 5The vehicle body further includes a locking mechanism 393, which is an electric push rod. It includes a horizontally positioned rotary motor 394, the output shaft of which is connected to a telescopic rod 395. The central axis of the telescopic rod 395 is parallel to the central axis of the long rod 112. The rotary motor 394 is housed within a semi-enclosed receiving frame 396, which is fixedly connected to the long rod 112 by locking components. When the cleaning robot is not in operation, due to the smooth surface of the photovoltaic array panel to be cleaned, the robot is highly likely to slip after losing its driving force. The photovoltaic panel array has a fixed base (not shown) at one end in its extension direction. The fixed base has a locking through hole (not shown). When the cleaning robot stops at one end of the photovoltaic panel array, the locking through hole is positioned opposite the telescopic rod 395. The cleaning robot stops at one end of the photovoltaic panel array, turns off the drive motor 340, and starts the rotary motor 394. The rotary motor 394 converts the rotational motion into the linear motion of the telescopic rod 395, causing the telescopic rod 395 to extend until it is inserted into the locking through hole (not shown). The rotary motor 394 is then turned off, so that the vehicle body 100 is locked at one end of the photovoltaic panel array, ensuring that the cleaning robot will not slip or cause any accidents.

[0095] Please see Figure 7 , Figure 8 The bottom of the battery box 200 is fixed to the second support member, and the photovoltaic panel 210 is located directly above the battery box. To achieve stable installation of the photovoltaic panel 210, the vehicle body 100 further includes:

[0096] Two C-shaped brackets 220 are installed above the middle of the vehicle frame. The two C-shaped brackets 220 are located on both sides of the battery box 200. Each C-shaped bracket 220 includes two opposing vertical plates 221, a horizontal plate 222, and a plug-in part 223. The bottom ends of the vertical plates 221 are fixed to the vehicle frame 110. The two ends of the horizontal plate 222 are vertically connected to the top ends of the two vertical plates 221. The plug-in part 223 is fixed to the top surface of the horizontal plate 222. One side of the plug-in part 223 forms a strip-shaped plug-in groove 224. When the two C-shaped brackets 220 are positioned opposite each other, the plug-in grooves 224 of the two C-shaped brackets 220 are positioned opposite each other. The two sides of the photovoltaic panel 210 are inserted into the two plug-in grooves 224 respectively, which overcomes the positioning defects of traditional photovoltaic panels that are easy to loosen and move due to simple laying. The arrangement in this embodiment is completely different from the prior art where the battery box 200 and photovoltaic panel 210 are distributed in different positions on the frame body. This arrangement not only requires extensive testing to determine the installation positions of the battery box and photovoltaic panel on the frame body, but also easily causes problems such as instability and tipping of the cleaning robot. This invention creatively places the battery box directly in the middle of the cleaning robot, directly solving a series of problems caused by the instability of the battery box's center of gravity, resulting in higher overall stability for the cleaning robot.

[0097] More specifically, a housing 225 is provided above the frame 110. A bulging cover 226 is formed in the middle of the housing 225 to cover the battery box 200. At the same time, in order to allow sunlight to directly enter the photovoltaic panel, an opening 227 is formed in the middle of the housing. The photovoltaic panel 210 passes through the opening and is exposed outside the housing 225. The housing 225 makes the cleaning robot more stable and aesthetically pleasing.

[0098] Additionally, the battery box 200 includes a box body, a battery pack housed within the box body, a motor driver, a power converter, and a control circuit board (not shown in the figure). The battery pack is connected to the drive motor 340 via the motor driver, and to the photovoltaic panel 210 via the power converter. This control allows the battery modules on the photovoltaic panel 210 to generate a stable current after absorbing solar energy, enabling the cleaning robot to self-charge and providing both cleaning and environmental protection. The control circuit board is connected to the motor driver, the power converter, and the battery pack. The control circuit board uses existing technology and will not be described in detail here.

[0099] It is particularly noteworthy that, to ensure the horizontal alignment of the photovoltaic panel array, the drive unit 400 is positioned adjacent to both sides of the battery box 200, a layout entirely different from the conventional design of drive units adjacent to end plates in existing technologies. In this embodiment, the ratio of the distance h between the two drive units to the total length H of the frame body ranges from 1:3 to 1:2. The distance h between the two drive units is defined as the distance between the two second mounting plates in the extension direction of the long rod (ignoring the thickness of the second mounting plates), and the total length H of the frame body is defined as the distance between the outer walls of the two end plates in the extension direction of the long rod. Based on the symmetrical design of the drive unit, in this embodiment, when the length H of the sweeping robot is 2m, the distance h between the two second mounting plates in the drive unit is ⅔ to 1 meter; similarly, when the length H of the sweeping robot is 1m, the distance h between the two second mounting plates in the drive unit is ⅓ to ½ meter. Since the battery pack in the battery box 200, the drive motor in the drive unit 400, wheels, and tracks constitute the main weight of the cleaning robot, accounting for approximately 80% to 90% of its total weight, placing the drive unit in the middle of the cleaning robot and appropriately setting the installation distance between the two drive units ensures the stability of the cleaning robot's center of gravity. More importantly, by placing the drive unit and battery box in the middle of the frame, 80% to 90% of the vehicle's weight is concentrated in the middle section of the photovoltaic panel array to be cleaned. The support frame for the photovoltaic panel array is also typically located in the middle section, thus providing sufficient support. This ensures that the ends of the photovoltaic panel array are not subjected to gravitational pressure or load, thereby preventing deformation and damage. This significantly improves the lifespan and photoelectric conversion efficiency of the photovoltaic panel array, resulting in broad market commercial value.

[0100] Please see Figure 4 The cleaning device 400 includes: a roller brush 410, a roller brush shaft 420, and a roller brush motor (not shown in the figure); the roller brush 410 is fixed on the outer periphery of the roller brush shaft 420, and the two ends of the roller brush shaft 420 are rotatably connected to the lower half of two end plates 111 respectively; the output shaft of the roller brush motor is connected to the roller brush shaft 420, and the roller brush motor is electrically connected to the control circuit board, so that the control circuit board can control the roller brush motor to start or stop the roller brush 410.

[0101] The length of the roller brush 410 is adapted to the size of the photovoltaic panel array to be cleaned. In this embodiment, the length of the roller brush 410 is matched with the total length of the units formed by arranging the photovoltaic panel array along the length direction. This allows the roller brush 410 to clean the entire photovoltaic panel array when the vehicle moves along the width direction of the photovoltaic panel array, avoiding the photovoltaic cleaning robot from turning back and forth, thereby improving cleaning efficiency.

[0102] Detection units (not shown in the figure) are respectively provided at both ends of the roller brush 410 to help determine whether the ends of the roller brush 410 are located on the photovoltaic panel array to be cleaned, and to determine whether the cleaning area fully covers the photovoltaic panel array. In another embodiment of this utility model, the cleaning device can also be a strip brush, with its two ends respectively connected to the lower half of two end plates. The strip brush can also achieve the cleaning function.

[0103] The cleaning robot provided in this application has been described in detail above. Specific examples have been used to illustrate the principles and implementation methods of this application. The description of the above embodiments is only for the purpose of helping to understand the method and core ideas of this application. At the same time, for those skilled in the art, there will be changes in the specific implementation methods and application scope based on the ideas of this application. Therefore, the content of this specification should not be construed as a limitation of this application.

Claims

1. A cleaning robot characterized by comprising: The utility model relates to a cleaning robot, comprising: a vehicle body comprising a long strip-shaped frame; a battery box mounted on the frame and located at the middle of the frame in the extending direction thereof; a plurality of driving devices mounted on the bottom of the frame, the plurality of driving devices being arranged on both sides of the battery box and being adjacent to the battery box; and a cleaning device having two ends respectively mounted to both ends of the bottom of the frame.

2. The cleaning robot according to claim 1, wherein The frame comprises: two end plates parallel to each other; and two long rods parallel to each other, both ends of each long rod being connected perpendicularly to the two end plates.

3. The cleaning robot according to claim 2, wherein The vehicle body comprises: two first support members, both ends of each first support member being connected to the two long rods, the battery box being fixedly mounted to the first support members; and two second support members, both ends of each second support member being connected to the two long rods, the driving devices being fixedly mounted to the second support members.

4. The cleaning robot according to claim 3, wherein The vehicle body comprises: two first mounting plates arranged oppositely, the top of each first mounting plate being fixedly connected to a second support member, each mounting plate being perpendicular to the two long rods, and each first mounting plate comprising a first mounting surface and a second mounting surface facing away from each other.

5. The cleaning robot according to claim 4, wherein each driving device comprises: a second mounting plate arranged oppositely to a first mounting plate; two or more wheels rotatably mounted to the first mounting plate and the second mounting plate via an axle; a driving motor mounted to the surface of the first mounting plate, the driving motor comprising a power output shaft passing through the first mounting plate and being connected to the axle of a wheel; an endless track wrapped around the tread surfaces of the two or more wheels; and at least one tensioning assembly located between any two wheels and connected to the frame for tightening the track.

6. The cleaning robot according to claim 5, wherein Each tensioning assembly comprises: a tensioning wheel carrier having both ends of the upper portion thereof fixedly connected to the first mounting plate and the second mounting plate, the bottom surface of the tensioning wheel carrier being provided with two grooves; two positioning columns having upper ends inserted into the two grooves, each positioning column comprising a first column body coaxially connected to a second column body, the diameter of the first column body being smaller than the diameter of the second column body, and the upper end of the second column body and the first column body being inserted into a groove; two spiral springs located in the two grooves, each spiral spring being sleeved outside the first column body of a positioning column, one end of each spiral spring abutting against the bottom surface of a groove, and the other end abutting against the top surface of a second column body; and a tensioning wheel having both ends rotatably mounted to the lower ends of the two positioning columns and abutting against the inner wall of the track.

7. The cleaning robot according to claim 5, wherein The vehicle body comprises: a driven wheel rotatably mounted to the side wall of an end plate and arranged oppositely to a wheel via an axle; and a transmission shaft having one end connected to the axle of a wheel and the other end connected to the axle of the driven wheel.

8. The cleaning robot according to claim 2, wherein The vehicle body comprises: a first limiting wheel rotatably mounted to the bottom of an end plate, the axle of the first limiting wheel being perpendicular to the bottom surface of the end plate; a connecting plate having an upper end connected to an end plate and a lower end extending downward, the connecting plate being perpendicular to the extending direction of the long rods; and a second limiting wheel rotatably mounted to the bottom of the connecting plate, the axle of the second limiting wheel being perpendicular to the bottom surface of the connecting plate. A second limiting wheel is rotatably installed to an L-shaped mounting plate, and an axle of the second limiting wheel is perpendicular to the connecting plate and parallel to the extending direction of the long rod. A buffer wheel is rotatably installed to the end plate and located at the bottom of the surface of the end plate in the extending direction thereof.

9. The cleaning robot according to claim 2, wherein The vehicle body comprises: Two L-shaped frames are installed above the middle part of the vehicle frame, and the two L-shaped frames are respectively located on both sides of the battery box. A photovoltaic panel is connected to the top of the two L-shaped frames and located directly above the battery box. A base plate is installed above the vehicle frame. A housing is provided above the vehicle frame. The middle part of the housing forms an upwardly protruding cover to cover the battery box, and an opening is formed in the middle part of the housing, through which the photovoltaic panel is exposed outside the housing.

10. The cleaning robot according to claim 9, wherein Each L-shaped frame comprises: Two oppositely arranged vertical plates, the bottom ends of which are respectively fixed to the vehicle frame; a horizontal plate, the two ends of which are respectively connected perpendicularly to the top ends of the two vertical plates; and A plug-in part, the bottom surface of which is fixed to the top surface of the horizontal plate, and one side surface of the plug-in part forms a strip-shaped plug-in slot. When the two L-shaped frames are oppositely arranged, the plug-in slots of the two L-shaped frames are oppositely arranged, and the two sides of the photovoltaic panel are respectively inserted into the two plug-in slots.

11. The cleaning robot according to claim 1, wherein The battery box comprises: A box body; A battery pack provided in the box body; A motor driver provided in the box body, and the battery pack is connected to the driving motor through the motor driver; A power converter provided in the box body, and the battery pack is connected to the photovoltaic panel through the power converter; and A control circuit board provided in the box body, and the control circuit board is respectively connected to the motor driver, the power converter, and the battery pack.

12. The cleaning robot according to claim 1, wherein The cleaning device comprises: A roller brush, the two ends of which are respectively rotatably connected to the lower half of the two end plates; or A strip-shaped plate brush, the two ends of which are respectively connected to the lower half of the two end plates.

13. The cleaning robot according to claim 2, wherein The vehicle body comprises a locking mechanism fixedly installed to a long rod of the vehicle frame, and the locking mechanism comprises an extension rod, and the central axis of the extension rod is parallel to the central axis of the long rod.

14. The cleaning robot according to claim 1, wherein The ratio of the distance h between the two driving devices to the total length H of the vehicle frame body is in the range of 1:3 to 1:2.

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