Photovoltaic cleaning robot

Abstract

The application discloses a photovoltaic cleaning robot, comprising a support beam, a rolling brush assembly arranged on the support beam, a walking assembly arranged at the middle part of the support beam, the walking assembly being connected with the support beam, the support beam being capable of rotating relative to the walking assembly, and a self-balancing device arranged on the support beam and / or the walking assembly, the self-balancing device being configured to adjust the posture of the rolling brush assembly. The self-balancing device is arranged on the support beam and / or the walking assembly, the posture of the photovoltaic cleaning robot is adjusted by using the self-balancing capability of the self-balancing device, and the dynamic balance of the posture of the photovoltaic cleaning robot can be realized when the photovoltaic cleaning robot walks on the transition bridge. The photovoltaic cleaning robot provided by the application is provided with only one walking assembly, so that only one transition bridge arranged in the middle of the photovoltaic assembly is needed to realize the crossing of the photovoltaic cleaning robot between the photovoltaic assemblies, the use amount of the transition bridge is reduced, and the construction cost of the photovoltaic power station is reduced.

Description

Technical Field

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

[0002] As a representative of renewable energy, photovoltaic (PV) power plants have become an important part of the modern energy structure due to their clean, environmentally friendly, and renewable advantages. However, PV panels are constantly exposed to the elements, easily accumulating dust and dirt, which affects power generation efficiency. To address this issue, PV cleaning robots have emerged. These robots utilize cleaning devices such as roller brushes to easily remove dirt from the surface of PV modules, ensuring their high-efficiency power generation.

[0003] Currently, photovoltaic cleaning robots are equipped with wheels at the top, middle, and bottom to enable them to walk and clean the photovoltaic modules. Therefore, corresponding transition bridges are also needed at the intervals between the photovoltaic modules to serve as tracks for the robots. Due to the complex terrain distribution of photovoltaic power stations, the types and quantities of transition bridges required in a single photovoltaic power station are diverse, which not only generates significant economic costs but also places higher demands on on-site installation work. Utility Model Content

[0004] In view of this, the purpose of this application is to provide a photovoltaic cleaning robot to reduce the amount of transition cable trays used.

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

[0006] The first aspect of this application provides a photovoltaic cleaning robot, comprising:

[0007] A support beam, on which a roller brush assembly is provided;

[0008] A walking assembly is located in the middle of the support beam and is connected to the support beam, and the support beam is rotatable relative to the walking assembly;

[0009] A self-balancing device is disposed on the support beam and / or the walking assembly, and the self-balancing device is configured to adjust the posture of the brush assembly.

[0010] In one possible implementation, the self-balancing device includes a flywheel assembly disposed on the support beam, the flywheel assembly being configured to generate a torque biased to one side during rotation, the flywheel assembly being fixedly connected to the support beam.

[0011] In one possible implementation, the flywheel assembly is one in number and is located in the middle of the support beam.

[0012] In one possible implementation, the number of flywheel devices is multiple;

[0013] When the number of flywheel devices is odd, one of the flywheel devices is located in the middle of the support beam, and the remaining flywheel devices are symmetrically arranged on both sides of the walking assembly along the length of the support beam.

[0014] When there is an even number of flywheel devices, each flywheel device is symmetrically arranged on both sides of the traveling assembly along the length of the support beam.

[0015] In one possible implementation, the self-balancing device includes a push rod device;

[0016] One end of the push rod device is hinged to the support beam, and the other end is hinged to the walking assembly. The push rod device can drive the support beam to rotate relative to the walking assembly.

[0017] In one possible implementation, the photovoltaic cleaning robot includes a first mounting frame and a second mounting frame, the first mounting frame being connected to the support beam, the second mounting frame being connected to the walking assembly, and the two ends of the push rod device being hinged to the first mounting frame and the second mounting frame, respectively.

[0018] In one possible implementation, there are two push rod devices, which are symmetrically arranged on both sides of the rotation axis of the support beam.

[0019] And / or,

[0020] The push rod device is an electric push rod device or a piston rod device.

[0021] In one possible implementation, the self-balancing device includes a center-of-gravity adjustment device, which comprises:

[0022] A linear displacement module is mounted on the support beam;

[0023] A mass block is mounted on the linear displacement module;

[0024] Along the length direction of the linear displacement module, the linear displacement module can drive the mass block to move.

[0025] In one possible implementation, the number of the center of gravity adjustment device is one, and the center of gravity adjustment device is located in the middle of the support beam.

[0026] In one possible implementation, the number of the center of gravity adjustment devices is two;

[0027] The two center-of-gravity adjustment devices are located on both sides of the walking assembly along the length of the support beam.

[0028] In one possible implementation, the walking component is provided with a rotation axis.

[0029] The self-balancing device includes a drive component mounted on the walking assembly, the output end of the drive component being connected to the rotating shaft, and the rotating shaft being fixedly connected to the support beam.

[0030] In one possible implementation, the drive assembly includes a drive motor, a reducer, and a coupling, wherein the motor shaft of the drive motor is drive-connected to the input end of the reducer, and the output end of the reducer is drive-connected to the rotating shaft via the coupling.

[0031] In one possible implementation, the walking component includes:

[0032] A walking support body, wherein the walking support body is provided with a hinge seat that is hinged to the support beam;

[0033] The system includes a walking drive device, a drive wheel, and a driven wheel. Both the drive wheel and the driven wheel are rotatably supported on the walking support body. The walking drive device is mounted on the walking support body, and its output end is connected to the drive wheel via a transmission.

[0034] The walking track is fitted onto the driving wheel and the driven wheel, and is connected to the driving wheel and the driven wheel in a driving transmission.

[0035] In one possible implementation, an attitude sensor disposed on the support beam is also included, which is capable of detecting the attitude of the support beam.

[0036] In one possible implementation, it also includes a self-charging assembly, a control box, and a battery box disposed on the support beam;

[0037] The control box and the battery box are located on both sides of the walking assembly along the length of the support beam.

[0038] The photovoltaic cleaning robot provided in this application has a walking component only installed in the middle of the support beam, eliminating the walking components at both ends of the support beam. To maintain the robot's walking posture even with only the walking component in the middle of the support beam, a self-balancing device is installed on the support beam and / or the walking component. Utilizing the self-balancing capability of this device, the robot's posture is adjusted, enabling dynamic balance when walking on the transition bridge. Since the photovoltaic cleaning robot provided in this application only has one walking component, only a transition bridge is needed in the middle of the photovoltaic modules to allow the robot to cross between them, reducing the amount of transition bridge required and lowering the construction cost of the photovoltaic power station. Attached Figure Description

[0039] 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.

[0040] Figure 1 This is a partial structural schematic diagram of the photovoltaic power station disclosed in Embodiment 1 of this application;

[0041] Figure 2 This is a schematic diagram of the structure of the photovoltaic cleaning robot disclosed in Embodiment 1 of this application during cleaning;

[0042] Figure 3 This is a partial structural schematic diagram of the photovoltaic power station disclosed in Embodiment 2 of this application;

[0043] Figure 4 This is a schematic diagram of the structure of the photovoltaic cleaning robot disclosed in Embodiment 2 of this application during cleaning;

[0044] Figure 5 This is a schematic diagram of the flywheel device disclosed in the embodiments of this application;

[0045] Figure 6 This is a partial structural schematic diagram of the photovoltaic power station disclosed in Embodiment 3 of this application;

[0046] Figure 7 This is a schematic diagram of the structure of the photovoltaic cleaning robot disclosed in Embodiment 3 of this application during cleaning;

[0047] Figure 8 This is a partial structural schematic diagram of the photovoltaic power station disclosed in Embodiment 4 of this application;

[0048] Figure 9This is a schematic diagram of the structure of the photovoltaic cleaning robot disclosed in Embodiment 4 of this application during cleaning;

[0049] Figure 10 This is a partial structural schematic diagram of the photovoltaic power station disclosed in Embodiment 5 of this application;

[0050] Figure 11 This is a schematic diagram of the structure of the photovoltaic cleaning robot disclosed in Embodiment 5 of this application during cleaning;

[0051] Figure 12 This is a schematic diagram of the walking component disclosed in an embodiment of this application.

[0052] The meanings of the various reference numerals in the figure are as follows:

[0053] 100 - Photovoltaic modules;

[0054] 200-Photovoltaic cleaning robot; 201-Support beam; 2011-Rotating shaft; 202-Roll brush assembly; 203-Walking assembly; 2031-Walking support body; 2032-Walking drive device; 2033-Drive wheel; 2034-Driven wheel; 2035-Walking track; 2036-Hinge seat; 204-Self-charging assembly; 205-Battery box; 206-Control box; 207-Attitude sensor; 208-Flywheel assembly; 2081-Flywheel body; 2082-Flywheel bracket; 2083-Flywheel drive device; 209-Push rod device; 210-First mounting frame; 211-Linear displacement module; 212-Mass block; 213-Drive motor; 214-Reducer; 215-Coupling;

[0055] 300-Transition cable tray;

[0056] 400-Photovoltaic bracket. Detailed Implementation

[0057] This application discloses a photovoltaic cleaning robot to reduce the amount of transition cable trays used.

[0058] Hereinafter, embodiments will be described with reference to the accompanying drawings. Furthermore, the embodiments shown below do not limit the scope of the application as described in the claims. Additionally, the complete composition represented in the embodiments below is not limited to what is necessary as the solution to the application described in the claims. It should be noted that, for ease of description, only the parts relevant to the application are shown in the drawings. Unless otherwise specified, the embodiments and features described in this application can be combined with each other.

[0059] like Figure 1 and Figure 2As shown in the figure, this application discloses a photovoltaic cleaning robot 200, which includes a support beam 201, a roller brush assembly 202, a walking assembly 203, and a self-balancing device.

[0060] The support beam 201 serves as a support device for the photovoltaic cleaning robot 200, providing a mounting base for other components of the robot. The roller brush assembly 202 is mounted on the support beam 201 and includes a roller brush body and a cleaning drive motor that drives the roller brush body to rotate. During cleaning operations, the cleaning drive motor drives the roller brush body to rotate around its own axis, causing the bristles on the roller brush body to clean the surface of the photovoltaic module 100, removing dust and other impurities.

[0061] The walking component 203 is located in the middle of the support beam 201 and is connected to the support beam 201. It should be noted that the middle of the support beam 201 does not refer only to the midpoint of the support beam 201, but rather to a region surrounding the midpoint; that is, the middle region of the support beam 201 includes the midpoint. As long as the walking component 203 is hinged to the middle region of the support beam 201, the balance of the support beam 201 around the hinge point can be basically maintained. Those skilled in the art will understand that rotatably connecting the walking component 203 to the midpoint of the support beam 201 makes it easier to maintain the overall posture balance of the photovoltaic cleaning robot 200. In practical applications, there will inevitably be errors in the processing of the support beam 201 and the walking component 203, as well as in their installation. This inevitably increases the difficulty of hinged the walking component 203 to the midpoint of the support beam 201. Instead, the middle part of the support beam 201 is hinged to the walking component 203, and a self-balancing device is used to maintain the walking posture of the photovoltaic cleaning robot 200.

[0062] The self-balancing device is mounted on the support beam 201 and / or the walking assembly 203. The self-balancing device can be mounted on either the support beam 201 or the walking assembly 203, or simultaneously connected to both. The self-balancing device is configured to adjust the posture of the roller brush assembly 202, ensuring the photovoltaic cleaning robot maintains dynamic balance both during cleaning operations and when crossing the transition bridge 300.

[0063] The photovoltaic cleaning robot 200 disclosed in this application embodiment has a walking component 203 only in the middle of the support beam 201, that is, the walking components 203 at both ends of the support beam 201 are eliminated. In order to maintain the walking posture of the photovoltaic cleaning robot 200 even with the walking component 203 only in the middle of the support beam 201, a self-balancing device is provided on the support beam 201 and / or the walking component 203. The self-balancing ability of the self-balancing device is used to adjust the posture of the photovoltaic cleaning robot 200, so that the photovoltaic cleaning robot 200 can achieve dynamic balance when walking on the transition bridge 300. The photovoltaic cleaning robot 200 disclosed in this application embodiment only has one walking component 203. Therefore, only one transition bridge 300 is needed in the middle of the photovoltaic module 100 to enable the photovoltaic cleaning robot 200 to cross between photovoltaic modules 100, reducing the amount of transition bridge 300 used and reducing the construction cost of photovoltaic power station.

[0064] like Figures 1-4 As shown in a specific embodiment of this application, the self-balancing device includes a flywheel device 208 disposed on the support beam 201. The flywheel device 208 is configured to generate a torque biased to one side when rotating. The flywheel device 208 is an active flywheel device driven by a flywheel drive device 2083. That is, the flywheel device 208 is an active flywheel device with autonomous power that can control its rotation as needed. The flywheel device 208 is fixedly connected to the support beam 201.

[0065] like Figure 5 As shown, the flywheel device 208 may include a flywheel bracket 2082, a flywheel body 2081, and a flywheel drive device 2083. The flywheel body 2081 is rotatably mounted on the flywheel bracket 2082, and the flywheel drive device 2083 is mounted on the flywheel bracket 2082, with its output end connected to the flywheel body 2081 for transmission, thereby driving the flywheel body 2081 to rotate in a corresponding direction. The flywheel drive device 2083 can be a drive motor, providing a faster response speed. The flywheel bracket 2082 is fixedly connected to the support beam 201.

[0066] When the flywheel body 2081 of the flywheel device 208 rotates at high speed, it possesses a certain angular momentum (angular momentum equals the moment of inertia multiplied by the angular velocity). According to the law of conservation of angular momentum, the angular momentum of an object remains constant in the absence of external torque. When the photovoltaic cleaning robot 200 is subjected to external disturbances that attempt to change its posture, the flywheel device 208, due to the conservation of angular momentum, will resist this change in posture. For example, when external disturbances cause the photovoltaic cleaning robot 200 to tend to rotate clockwise along the rotation axis of the support beam 201, the high-speed rotating flywheel body 2081 will generate a torque in the opposite direction (counterclockwise) to counteract the disturbance torque and maintain the stability of the photovoltaic cleaning robot 200's posture.

[0067] By controlling the rotational speed of the flywheel 2081, the required torque can be precisely generated to adjust the robot's posture. For example, if the photovoltaic cleaning robot 200 tilts to one side, increasing or decreasing the rotational speed of the flywheel 2081 can generate a torque of the corresponding direction and magnitude, allowing the photovoltaic cleaning robot 200 to return to a balanced posture. That is, when the photovoltaic cleaning robot 200 tilts, the flywheel 2081 can be controlled to rotate in the corresponding direction and speed, so that the flywheel device 208 can generate a torque in the opposite direction to correct the posture of the photovoltaic cleaning robot 200.

[0068] Furthermore, the rotational speed of the flywheel 2081 can be adjusted in real time based on feedback from the attitude detection system, achieving dynamic and precise attitude balance control. The flywheel device 208 can quickly respond to attitude changes, and upon detecting an attitude deviation, it rapidly generates a corrective torque by changing its rotational speed.

[0069] like Figure 2 As shown, there can be only one flywheel device 208. When there is only one flywheel device 208, the flywheel device 208 is located in the middle of the support beam 201 to prevent the weight of the flywheel device 208 from generating torque on the support beam 201, that is, to prevent the photovoltaic cleaning robot 200 from being in an eccentric state, which is not conducive to the balance of posture.

[0070] like Figure 4 As shown, the number of flywheel devices 208 can also be multiple. When there are multiple flywheel devices 208, the number of flywheel devices 208 can be odd or even.

[0071] When the number of flywheel devices 208 is odd, one flywheel device 208 is located in the middle of the support beam 201, and the remaining flywheel devices 208 are symmetrically arranged on both sides of the walking component 203 along the length of the support beam 201, so as to prevent the photovoltaic cleaning robot 200 from being eccentric, which would be detrimental to the balance of posture.

[0072] When the number of flywheel devices 208 is even, each flywheel device 208 is symmetrically arranged on both sides of the walking component 203 along the length of the support beam 201 to prevent the photovoltaic cleaning robot 200 from being eccentric, which would be detrimental to its posture balance.

[0073] In this embodiment, multiple flywheel devices 208 are arranged along the length of the support beam 201. Compared to setting only one flywheel device 208 in the middle position, a higher torque output can be generated. The torque of multiple flywheel devices 208 can be superimposed, breaking through the physical limits of a single flywheel device 208. Moreover, multiple flywheel devices 208 have fault tolerance capabilities; when some of the flywheel devices 208 fail, the others can still maintain dynamic balance. In addition, by setting multiple flywheel devices 208, the volume of a single flywheel device 208 can be reduced. Multiple small-volume flywheel devices 208 accelerate faster than a single large-volume flywheel device 208, which can improve the system's response speed.

[0074] The self-balancing device uses a single flywheel device 208. Compared to the solution with multiple flywheel devices 208, the single flywheel device 208 requires a larger size and the flywheel drive device 2083 has a higher power, making it suitable for situations where the adjustment range is not large.

[0075] like Figure 6 and Figure 7 As shown in a specific embodiment of this application, the self-balancing device may include a push rod device 209, which is a telescopic device with autonomous power. The push rod device 209 has autonomous power and can adjust its extension and retraction as needed to change its length. For example, the push rod device 209 may be an electric push rod device or a piston rod device, such as a cylinder rod device.

[0076] When the push rod device 209 is an electric push rod device, its power source is an electric motor. The motor outputs rotational motion, which drives the lead screw mechanism or gear and rack mechanism to achieve linear displacement output action, thereby realizing the extension and retraction action. When the push rod device 209 is a piston rod device, it can use air pressure or hydraulic pressure as a drive source to realize the extension and retraction action of the piston rod.

[0077] One end of the push rod device 209 is hinged to the support beam 201, and the other end is hinged to the walking component 203. The push rod device 209 can drive the support beam 201 to rotate relative to the walking component 203. That is, through the extension and retraction of the push rod device 209, the support beam 201 can be driven to rotate around the walking component 203 by a certain angle, thereby adjusting the walking posture of the photovoltaic cleaning robot 200.

[0078] If the photovoltaic cleaning robot 200 tilts to one side, the length of the push rod device 209 can be increased or decreased to generate a torque of corresponding direction and magnitude acting on the support beam 201, thus restoring the photovoltaic cleaning robot 200 to a balanced posture. In other words, when the photovoltaic cleaning robot 200 tilts, the push rod device 209 can be controlled to extend or shorten, allowing it to generate a torque in the opposite direction to correct the posture of the photovoltaic cleaning robot 200.

[0079] In Figure 7 From the perspective of [the camera / device], the push rod device 209 located at the front is considered as the object of analysis. If the left end of the support beam 201 tilts downward and the right end tilts upward, the push rod device 209 located at the front can be driven to shorten, thereby pulling the left end of the support beam 201 upward to correct the posture of the photovoltaic cleaning robot 200. If the left end of the support beam 201 tilts upward and the right end tilts downward, the push rod device 209 located at the front can be driven to extend, thereby pushing the left end of the support beam 201 downward to correct the posture of the photovoltaic cleaning robot 200.

[0080] In this embodiment, the photovoltaic cleaning robot includes a first mounting frame 210 and a second mounting frame. The first mounting frame 210 is connected to the support beam 201, and the second mounting frame is connected to the walking assembly 203. The two ends of the push rod device 209 are hinged to the first mounting frame 210 and the second mounting frame, respectively. That is, in this embodiment, the two ends of the push rod device 209 are indirectly hinged to the support beam 201 and the walking assembly 203, respectively. One end of the push rod device 209 is hinged to the support beam 201 via the first mounting frame 210, and the other end of the push rod device 209 is hinged to the walking assembly 203 via the second mounting frame.

[0081] In this embodiment, a first mounting bracket 210 is provided on the support beam 201, allowing the push rod device 209 to be hinged to the first mounting bracket 210. This arrangement ensures that the vertical plane of the push rod device 209 is parallel to the vertical plane of the support beam 201. The vertical plane of the push rod device 209 refers to the plane passing through the push rod device 209 and perpendicular to the photovoltaic module 100, and the vertical plane of the support beam 201 refers to the plane passing through the support beam 201 and perpendicular to the photovoltaic module 100. This arrangement makes it easier for the push rod device 209 to drive the support beam 201 to deflect in the corresponding direction, thereby correcting the posture of the photovoltaic cleaning robot 200.

[0082] Furthermore, the position where the first mounting bracket 210 is hinged to the push rod device 209 is the first position, and the position where the first mounting bracket 210 is connected to the support beam 201 is the second position. The line connecting the first position and the second position is the target line. When the plane where the support beam 201 and the photovoltaic module 100 are parallel is parallel, the push rod device 209 is not parallel to the target line. Because the push rod device 209 is not parallel to the target line, it can avoid the dead point position that drives the support beam 201 to rotate, so that when the push rod device 209 extends or retracts, it can drive the support beam 201 to deflect in the corresponding direction to correct the posture of the photovoltaic cleaning robot 200.

[0083] In this embodiment, there can be two push rod devices 209, symmetrically arranged on both sides of the rotation axis of the support beam 201. During attitude adjustment, the two push rod devices 209 should move synchronously. For example, when the left push rod device 209 extends, the right push rod device 209 needs to retract synchronously; conversely, when the left push rod device 209 retracts, the right push rod device 209 needs to extend synchronously. Of course, only one push rod device 209 can be provided, which can also complete the attitude adjustment action.

[0084] like Figure 8 and Figure 9 As shown in a specific embodiment of this application, the self-balancing device includes a center of gravity adjustment device, which may include a linear displacement module 211 and a mass block 212. The linear displacement module 211 is disposed on the support beam 201 and extends along the length of the support beam 201. The mass block 212 is disposed on the linear displacement module 211. Along the length of the linear displacement module 211, the linear displacement module 211 can drive the mass block 212 to move, that is, the position of the mass block 212 in the length direction of the support beam 201 can be changed by the linear displacement module 211, thereby changing the center of gravity position of the support beam 201.

[0085] If the left end of the support beam 201 tilts downward and the right end tilts upward, the linear displacement module 211 can drive the mass block 212 to move to the left, thereby shifting the center of gravity of the support beam 201 to the left. This, in turn, drives the left end of the support beam 201 to deflect upward and the right end to deflect downward, thus correcting the posture of the photovoltaic cleaning robot 200. If the left end of the support beam 201 tilts upward and the right end tilts downward, the linear displacement module 211 can drive the mass block 212 to move to the right, thereby shifting the center of gravity of the support beam 201 to the left. This, in turn, drives the left end of the support beam 201 to deflect downward and the right end to deflect upward, thus correcting the posture of the photovoltaic cleaning robot 200.

[0086] The number of center of gravity adjustment devices can be only one, which is located in the middle of the support beam 201, so that the mass block 212 can have the same adjustment range on both sides of the rotation axis of the support beam 201.

[0087] The number of center of gravity adjustment devices can also be two. In the case of two center of gravity adjustment devices, the two center of gravity adjustment devices are located on both sides of the walking component 203 along the length direction of the support beam 201, so as to prevent the photovoltaic cleaning robot 200 from being eccentric, which is not conducive to the balance of posture.

[0088] In this embodiment, two center-of-gravity adjustment devices are arranged along the length of the support beam 201. Compared with setting only one center-of-gravity adjustment device in the middle position, the two mass blocks 212 can be moved to one end simultaneously, resulting in faster center-of-gravity adjustment. Moreover, multiple center-of-gravity adjustment devices have fault tolerance capabilities. When some of the center-of-gravity adjustment devices fail, the other center-of-gravity adjustment devices can still maintain the dynamic balance of the posture.

[0089] like Figures 10-12 As shown in a specific embodiment of this application, a rotating shaft 2011 is provided on the walking component 203, and the rotating shaft 2011 is rotatably supported on the walking component 203. The self-balancing device may include a drive component disposed on the walking component 203, the output end of the drive component being connected to the rotating shaft 2011 in a transmission connection, and the rotating shaft 2011 being fixedly connected to the support beam 201. When the photovoltaic cleaning robot 200 exhibits a tilting tendency, the rotating shaft 2011 is driven to rotate by the drive component to adjust the angle of the support beam 201 itself, thereby realizing the adjustment of the photovoltaic cleaning robot 200's own posture.

[0090] The drive assembly may include a drive motor 213, a reducer 214, and a coupling 215. The motor shaft of the drive motor 213 is connected to the input end of the reducer 214, and the output end of the reducer 214 is connected to the rotating shaft 2011 via the coupling 215. The reducer 214 can reduce the output speed of the drive motor 213, allowing the rotating shaft 2011 to rotate at a slower speed, thus ensuring the accuracy of the photovoltaic cleaning robot 200's posture adjustment.

[0091] If the support beam 201 deflects clockwise, the rotating shaft 2011 can be driven to rotate counterclockwise via the drive assembly, thereby causing the support beam 201 to deflect counterclockwise and correcting the posture of the photovoltaic cleaning robot 200. If the support beam 201 deflects counterclockwise, the rotating shaft 2011 can be driven to rotate clockwise via the drive assembly, thereby causing the support beam 201 to deflect clockwise and correcting the posture of the photovoltaic cleaning robot 200.

[0092] like Figure 12 As shown in a specific embodiment of this application, the walking component 203 includes a walking support 2031, a walking drive device 2032, a walking track 2035, a drive wheel 2033, and a driven wheel 2034.

[0093] The walking support 2031 is provided with a hinge seat 2036 that is hinged to the support beam 201. The driving wheel 2033 and the driven wheel 2034 are rotatably supported on the walking support 2031. The walking drive device 2032 is provided on the walking support 2031, and its output end is connected to the driving wheel 2033 to drive the driving wheel 2033 to rotate.

[0094] The walking track 2035 is mounted on the drive wheel 2033 and the driven wheel 2034, which support the walking track 2035. The walking track 2035 is connected to the drive wheel 2033 and the driven wheel 2034 via a transmission. When the walking drive device 2032 drives the drive wheel 2033 to rotate, the drive wheel 2033 drives the walking track 2035 to move, and the driven wheel 2034 rotates accordingly. The walking track 2035 needs to be made of a material and have a high coefficient of friction to ensure that the photovoltaic cleaning robot 200 does not slip due to its own weight when walking on the photovoltaic module 100.

[0095] In one specific embodiment of this application, the photovoltaic cleaning robot may further include an attitude sensor 207 disposed on the support beam 201, which can detect the attitude of the support beam 201. The number and position of the attitude sensors 207 can be selected by those skilled in the art according to their needs. When the photovoltaic cleaning robot 200 walks on the photovoltaic module 100, the attitude sensors 207 on the photovoltaic cleaning robot 200 will detect the attitude data of the photovoltaic cleaning robot 200 in real time. The data from the attitude sensors 207 are fused by an algorithm to eliminate integral drift error, obtain a precise attitude angle, and generate adjustment commands to control the self-balancing device to respond quickly.

[0096] The photovoltaic cleaning robot 200 may also include a self-charging component 204, a control box 206, and a battery box 205 mounted on the support beam 201. The self-charging component 204 can power the photovoltaic modules of the photovoltaic cleaning robot 200. The electrical energy generated by the self-charging component 204 can directly drive the roller brush assembly 202 and the self-balancing device, or it can be stored in the battery box 205, which then powers the roller brush assembly 202 and the self-balancing device.

[0097] When there is one self-charging component 204, it can be arranged in the middle of the support beam 201; when there are two self-charging components 204, they can be symmetrically arranged on both sides of the walking component 203 along the length of the support beam 201. The control box 206 and the battery box 205 are located on both sides of the walking component 203 along the length of the support beam 201. Since the self-charging components 204, control box 206, and battery box 205 are relatively heavy, the above arrangement can keep the center of gravity of the photovoltaic cleaning robot 200 at or near the middle of the support beam 201, preventing the photovoltaic cleaning robot 200 from being eccentric and affecting its posture adjustment.

[0098] This application also discloses a photovoltaic power station, which includes photovoltaic modules 100 and a photovoltaic cleaning robot 200 for cleaning the photovoltaic modules 100. The photovoltaic cleaning robot 200 is the same as the photovoltaic cleaning robot 200 disclosed in the above embodiment. The photovoltaic modules 100 are supported by photovoltaic brackets 400.

[0099] The photovoltaic power station provided in this application has the aforementioned photovoltaic cleaning robot 200, and therefore possesses all the technical effects of the aforementioned photovoltaic cleaning robot 200, which will not be repeated here.

[0100] 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.

[0101] In the description of this application, unless otherwise expressly defined, terms such as "setup," "installation," and "connection" should be interpreted broadly, and those skilled in the art can reasonably determine the specific meaning of the above terms in this application in conjunction with the specific content of the technical solution.

[0102] 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.

[0103] 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 method and 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 photovoltaic cleaning robot, characterized in that, include: A support beam (201) is provided with a roller brush assembly (202). A walking assembly (203) is located in the middle of the support beam (201). The walking assembly (203) is connected to the support beam (201), and the support beam (201) is rotatable relative to the walking assembly (203). A self-balancing device is disposed on the support beam (201) and / or the walking assembly (203), the self-balancing device being configured to adjust the posture of the roller brush assembly (202).

2. The photovoltaic cleaning robot as described in claim 1, characterized in that, The self-balancing device includes a flywheel device (208) disposed on the support beam (201), the flywheel device (208) being configured to generate a torque biased to one side when rotating, and the flywheel device (208) being fixedly connected to the support beam (201).

3. The photovoltaic cleaning robot as described in claim 2, characterized in that, The number of the flywheel device (208) is one, and the flywheel device (208) is located in the middle of the support beam (201).

4. The photovoltaic cleaning robot as described in claim 2, characterized in that, The number of the flywheel devices (208) is multiple; When the number of the flywheel devices (208) is odd, one of the flywheel devices (208) is located in the middle of the support beam (201), and the remaining flywheel devices (208) are symmetrically arranged on both sides of the walking assembly (203) along the length direction of the support beam (201). When there is an even number of flywheel devices (208), each flywheel device (208) is symmetrically arranged on both sides of the walking assembly (203) along the length direction of the support beam (201).

5. The photovoltaic cleaning robot as described in claim 1, characterized in that, The self-balancing device includes a push rod device (209). One end of the push rod device (209) is hinged to the support beam (201), and the other end is hinged to the walking assembly (203). The push rod device (209) can drive the support beam (201) to rotate relative to the walking assembly (203).

6. The photovoltaic cleaning robot as described in claim 5, characterized in that, The photovoltaic cleaning robot includes a first mounting frame (210) and a second mounting frame. The first mounting frame (210) is connected to the support beam (201), and the second mounting frame is connected to the walking component (203). The two ends of the push rod device (209) are respectively hinged to the first mounting frame (210) and the second mounting frame.

7. The photovoltaic cleaning robot as described in claim 5, characterized in that, There are two push rod devices (209), which are symmetrically arranged on both sides of the rotation axis of the support beam (201); And / or, The push rod device (209) is an electric push rod device or a piston rod device.

8. The photovoltaic cleaning robot as described in claim 1, characterized in that, The self-balancing device includes a center of gravity adjustment device, which includes: A linear displacement module (211) is mounted on the support beam (201); A mass block (212) is disposed on the linear displacement module (211); Along the length direction of the linear displacement module (211), the linear displacement module (211) can drive the mass block (212) to move.

9. The photovoltaic cleaning robot as described in claim 8, characterized in that, The number of the center of gravity adjustment device is one, and the center of gravity adjustment device is located in the middle of the support beam (201).

10. The photovoltaic cleaning robot as described in claim 8, characterized in that, The number of the center of gravity adjustment devices is two; The two center of gravity adjustment devices are located on both sides of the walking assembly (203) along the length of the support beam (201).

11. The photovoltaic cleaning robot as described in claim 1, characterized in that, The walking component (203) is provided with a rotating shaft (2011). The self-balancing device includes a drive component disposed on the walking component (203), the output end of the drive component is connected to the rotating shaft (2011) for transmission, and the rotating shaft (2011) is fixedly connected to the support beam (201).

12. The photovoltaic cleaning robot as described in claim 11, characterized in that, The drive assembly includes a drive motor (213), a reducer (214), and a coupling (215). The motor shaft of the drive motor (213) is connected to the input end of the reducer (214), and the output end of the reducer (214) is connected to the rotating shaft (2011) through the coupling (215).

13. The photovoltaic cleaning robot as described in any one of claims 1-12, characterized in that, The walking component (203) includes: A walking support (2031) is provided with a hinge seat (2036) that is hinged to the support beam (201). The walking drive device (2032), the driving wheel (2033) and the driven wheel (2034) are rotatably supported on the walking support body (2031). The walking drive device (2032) is disposed on the walking support body (2031) and its output end is connected to the driving wheel (2033) in a transmission. The walking track (2035) is fitted on the driving wheel (2033) and the driven wheel (2034) and is connected to the driving wheel (2033) and the driven wheel (2034) in a transmission connection.

14. The photovoltaic cleaning robot as described in any one of claims 1-12, characterized in that, It also includes an attitude sensor (207) disposed on the support beam (201), the attitude sensor (207) being able to detect the attitude of the support beam (201).

15. The photovoltaic cleaning robot as described in any one of claims 1-12, characterized in that, It also includes a self-charging assembly (204), a control box (206), and a battery box (205) disposed on the support beam (201); The control box (206) and the battery box (205) are located on both sides of the walking assembly (203) along the length of the support beam (201).

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