A cleaning robot

Abstract

The application relates to the field of cleaning robots, and provides a cleaning robot which comprises a shell and an obstacle-crossing assembly; a walking assembly and a cleaning assembly are arranged on the shell; the obstacle-crossing assembly comprises a first driving member, a transmission gear set and a plurality of obstacle-crossing wheels; one transmission gear of the transmission gear set is connected with the first driving member in power; another transmission gear of the transmission gear set which is far away from the first driving member is connected with the obstacle-crossing wheels; the obstacle-crossing wheels are arranged at the front end of the walking wheels in the advancing direction; and the obstacle-crossing wheels and the walking wheels form a stable support structure which can cross the gap of a photovoltaic panel array in the advancing direction. The obstacle-crossing wheels of the application are arranged at the front end of the walking wheels in the advancing direction; the obstacle-crossing wheels and the walking wheels form a stable support structure which can cross the gap of a photovoltaic panel array in the advancing direction; and the first driving member drives the obstacle-crossing wheels to rotate synchronously through the transmission gear set, so that the cleaning robot can stably advance in the gap of a photovoltaic panel array with small spacing and height stagger.

Description

Technical Field

[0001] This utility model relates to the field of photovoltaic cleaning robots, and further to a cleaning robot. Background Technology

[0002] Internationally, many large power plants commonly employ fixed-rack photovoltaic (PV) panel arrays. However, to utilize land more efficiently and increase power generation, the spacing between PV panel arrays is often compressed to between 100-200 millimeters, posing a challenge to traditional PV cleaning machines that rely on cable trays for operation. Even more problematic is the extreme difficulty in installing the cable trays due to the small spacing and the height misalignment between PV panel arrays. Furthermore, the extensive use of cable trays significantly increases installation complexity, material costs, and overall installation costs. Utility Model Content

[0003] To address the aforementioned technical problems, the purpose of this utility model is to provide a cleaning robot in which obstacle-crossing wheels are positioned at the front end of the walking wheels in the direction of travel, thereby forming a stable support structure in the direction of travel that can cross the gaps between photovoltaic panel arrays. The first driving component drives the obstacle-crossing wheels to rotate synchronously through a transmission gear set, enabling the cleaning robot to move stably in the gaps between photovoltaic panel arrays with small spacing and height misalignment without relying on a bridge.

[0004] To achieve the above objectives, this utility model provides a cleaning robot, including a shell and an obstacle-crossing component;

[0005] The housing is provided with a walking assembly and a cleaning assembly. The walking assembly includes a plurality of walking wheels adapted to walk on the photovoltaic panel array, and the cleaning assembly includes a brush roller for cleaning the surface of the photovoltaic panel.

[0006] The obstacle-crossing assembly includes a first driving member, a transmission gear set, and a plurality of obstacle-crossing wheels. The obstacle-crossing assembly is respectively disposed at both ends of the housing along the traveling direction. The transmission gear set includes a plurality of meshing transmission gears. One transmission gear of the transmission gear set closer to the first driving member is poweredly connected to the first driving member. Another transmission gear of the transmission gear set away from the first driving member is connected to the obstacle-crossing wheel. The obstacle-crossing wheel is disposed at the front end of the traveling wheel in the traveling direction, so that the obstacle-crossing wheel and the traveling wheel form a stable support structure in the traveling direction that can cross the gaps between the photovoltaic panel array.

[0007] In some embodiments, the number of transmission gears is even, and the obstacle-crossing assembly further includes a first transmission shaft and a second transmission shaft. The first transmission shaft connects the brush roller and the corresponding transmission gear, and the second transmission shaft connects the obstacle-crossing wheel and the corresponding transmission gear.

[0008] The first driving member is adapted to drive the first transmission shaft and the second transmission shaft to rotate, the brush roller rotates in the opposite direction to the direction of travel, and the obstacle-crossing wheel rotates in the same direction as the direction of travel.

[0009] In some embodiments, the obstacle-crossing assembly further includes a transmission component, a first drive gear, and a second drive gear, wherein the first drive component is disposed outside the housing, and the first drive gear is disposed on the output shaft of the first drive component;

[0010] The second drive gear is disposed on the first drive shaft, and the first drive gear is adapted to drive a pair of second drive gears through the transmission member, so that the obstacle-crossing wheels located at both ends of the housing operate synchronously.

[0011] In some embodiments, the obstacle-crossing assembly further includes a tension wheel disposed below the first drive gear and adapted to adjust the tension of the transmission member.

[0012] In some embodiments, the obstacle-crossing assembly further includes a plurality of mounting brackets mounted at both ends of the housing along the travel direction, the first drive shaft and the second drive shaft respectively disposed at both ends of the mounting bracket along the travel direction, the transmission gear set mounted on the side of the mounting bracket away from the photovoltaic panel, and the obstacle-crossing wheel mounted on the side of the mounting bracket close to the photovoltaic panel.

[0013] In some embodiments, two sets of the traveling wheels are provided on both sides of the surface of the photovoltaic panel perpendicular to the direction of travel. The traveling wheels in each set are spaced apart along the direction of travel, and the obstacle-crossing wheels are respectively provided at the front end of each set of traveling wheels in the direction of travel.

[0014] In some embodiments, the walking assembly further includes a second drive member, a drive gear set, and a first driven gear, wherein the first driven gear is connected to a walking wheel, and the output shaft of the second drive member is poweredly connected to the first driven gear through the drive gear set.

[0015] In some embodiments, the drive gear set includes a first drive gear, a connecting rod shaft, a second drive gear, and a pair of third drive gears. The first drive gear is disposed on the output shaft of the second drive member, the second drive gear is disposed on the connecting rod shaft and meshes with the first drive gear, the connecting rod shaft is disposed along the travel direction, and a pair of third drive gears are disposed at both ends of the connecting rod shaft. The third drive gears are adapted to mesh with the first driven gear.

[0016] In some embodiments, the walking assembly further includes a second driven gear and a guide wheel, the guide wheel being disposed at the bottom of the housing and adapted to walk along the side of the photovoltaic panel, the second driven gear being connected to the guide wheel and meshing with the third driving gear.

[0017] In some embodiments, a guide member is also provided inside the housing, through which the connecting rod shaft passes, and the guide member is fixedly connected to the top of the housing.

[0018] Compared with the prior art, the cleaning robot provided by this utility model has at least one of the following beneficial effects:

[0019] 1. The obstacle-crossing wheel is located at the front end of the walking wheel in the direction of travel, so that the obstacle-crossing wheel and the walking wheel form a stable support structure in the direction of travel that can cross the gaps between photovoltaic panel arrays. The first driving component drives the obstacle-crossing wheel to rotate synchronously through the transmission gear set, so that the cleaning robot can move stably in the gaps between photovoltaic panel arrays with small spacing and height misalignment without relying on the bridge.

[0020] 2. The first driving component drives the brush roller to rotate through the first transmission shaft, and then drives the obstacle-crossing wheel to rotate through the transmission gear set. At this time, the rotation direction of the brush roller is opposite to the direction of travel, and the rotation direction of the obstacle-crossing wheel is synchronized with the direction of travel. This not only optimizes the cleaning effect, but also enhances the obstacle-crossing ability of the cleaning robot in complex photovoltaic panel arrays, enabling it to flexibly shuttle between photovoltaic panels and efficiently complete the cleaning task.

[0021] 3. The mounting frame enables convenient disassembly and maintenance of the obstacle-crossing components, while ensuring that the sweeping robot can still perform sweeping and walking operations normally after the obstacle-crossing wheels are removed. This not only improves the maintainability and flexibility of the sweeping robot, but also reduces maintenance costs and improves maintenance efficiency, demonstrating significant practicality and economy.

[0022] 4. The walking components also include guide wheels and a second driven gear, which enable the cleaning robot to more effectively cross the gaps between misaligned photovoltaic panel arrays; the coordinated work of the obstacle-crossing wheels and guide wheels allows the cleaning robot to maintain stability and continuity in complex photovoltaic panel array environments, without getting stuck or stopping due to small terrain changes. Attached Figure Description

[0023] The preferred embodiments will be described below in a clear and easy-to-understand manner, in conjunction with the accompanying drawings, to further explain the above-mentioned characteristics, technical features, advantages and implementation methods of this utility model.

[0024] Figure 1 This is an overall diagram of a cleaning robot;

[0025] Figure 2 This is a location diagram of the obstacle crossing components;

[0026] Figure 3 This is a structural diagram of the obstacle crossing component;

[0027] Figure 4 This is a structural diagram of the walking component.

[0028] Explanation of icon numbers:

[0029] Housing 1, mounting bracket 11, walking assembly 2, walking wheel 21, second drive component 22, drive gear set 23, first drive gear 231, connecting rod shaft 232, second drive gear 233, third drive gear 234, guide component 235, first driven gear 24, guide wheel 25, second driven gear 26, sweeping assembly 3, brush roller 31, obstacle crossing assembly 4, first drive component 41, first drive gear 411, transmission gear set 42, transmission gear 421, obstacle crossing wheel 43, first transmission shaft 44, second drive gear 441, second transmission shaft 45, transmission component 46, tension wheel 47. Detailed Implementation

[0030] To more clearly illustrate the technical solutions in the embodiments of this utility model or the prior art, the specific implementation methods of this utility model will be described below with reference to the accompanying drawings. Obviously, the drawings described below are merely some embodiments of this utility model. For those skilled in the art, other drawings and other implementation methods can be obtained based on these drawings without any creative effort.

[0031] To keep the drawings concise, each figure only schematically shows the parts relevant to the utility model, and these do not represent the actual structure of the product. Furthermore, for ease of understanding, in some figures, only one of the components with the same structure or function is schematically depicted, or only one is labeled. In this document, "one" not only means "only one," but can also mean "more than one."

[0032] It should also be further understood that the term “and / or” as used in this application specification and the appended claims means any combination of one or more of the associated listed items and all possible combinations, and includes such combinations.

[0033] In this document, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "linking" should be interpreted broadly. For example, they can refer to fixed connections, detachable connections, or integral connections; they can refer to mechanical connections or electrical connections; they can refer to direct connections or indirect connections through an intermediate medium; and they can refer to the internal connection between two components. Those skilled in the art can understand the specific meaning of the above terms in this utility model based on the specific circumstances.

[0034] Furthermore, in the description of this application, the terms "first," "second," etc., are used only for distinguishing descriptions and should not be construed as indicating or implying relative importance. It should be noted that the above embodiments can be freely combined as needed. The above are merely preferred embodiments of this utility model. It should be pointed out that for those skilled in the art, several improvements and modifications can be made without departing from the principle of this utility model, and these improvements and modifications should also be considered within the protection scope of this utility model.

[0035] refer to Figure 1 and Figure 2 This utility model provides a cleaning robot, including a housing 1 and an obstacle-crossing component 4. The housing 1 is provided with a walking component 2 and a cleaning component 3. The walking component 2 includes a plurality of walking wheels suitable for walking on a photovoltaic panel array. The cleaning component 3 includes a brush roller 31 for cleaning the surface of the photovoltaic panels. The obstacle-crossing component 4 includes a first driving member 41, a transmission gear set 42 and a plurality of obstacle-crossing wheels 43. The obstacle-crossing component 4 is respectively located at both ends of the housing 1 along the traveling direction. The transmission gear set 42 includes a plurality of meshing transmission gears 421. One transmission gear 421 of the transmission gear set 42 close to the first driving member 41 is poweredly connected to the first driving member 41. Another transmission gear 421 of the transmission gear set 42 away from the first driving member 41 is connected to the obstacle-crossing wheel 43. The obstacle-crossing wheel 43 is located at the front end of the walking wheel in the traveling direction, so that the obstacle-crossing wheel 43 and the walking wheel form a stable support structure in the traveling direction that can cross the gaps between the photovoltaic panel array.

[0036] In this embodiment, the obstacle-crossing wheel 43 is located at the front end of the walking wheel in the direction of travel, so that the obstacle-crossing wheel 43 and the walking wheel form a stable support structure in the direction of travel that can cross the gaps between the photovoltaic panel arrays. The first driving member 41 drives the obstacle-crossing wheel 43 to rotate synchronously through the transmission gear set 42, so that the cleaning robot can move stably in the gaps between the photovoltaic panel arrays with small spacing and height misalignment without relying on the bridge.

[0037] Specifically, the obstacle-crossing component 4 includes a first drive unit 41, a transmission gear set 42, and several obstacle-crossing wheels 43. The transmission gear set 42 consists of multiple meshing transmission gears 421 forming a highly efficient power transmission system. The transmission gear 421 closest to the first drive unit 41 is connected to the first drive unit 41 and receives power input, while the transmission gear 421 at the other end is tightly connected to the obstacle-crossing wheel 43, ensuring that power is accurately transmitted to the obstacle-crossing wheel 43. The function of the transmission gear set 42 is to stably position the obstacle-crossing wheel 43 away from the housing 1, so that it forms a cleverly staggered structure with the walking wheel and the brush roller 31, precisely positioned at the front end of the walking wheel's direction of travel, allowing the obstacle-crossing wheel 43 to work in coordination with the walking wheel to form a stable support structure, ensuring that the cleaning robot maintains balance and stability when crossing the gaps in the photovoltaic panel array.

[0038] The obstacle-crossing wheel 43 is installed at the front end of the traveling wheel in the direction of travel. It works in conjunction with the traveling wheel to form a stable support structure. Since the obstacle-crossing wheel 43 is powered, it can actively cross the gaps between photovoltaic panels without relying on the support of external structures such as bridges. This eliminates the problem of difficult installation of small-pitch bridges, allowing the cleaning robot to easily cross the narrow gaps in the photovoltaic panel array. Even when facing complex situations with a spacing of only 100 to 200 millimeters and height misalignment, it can maintain stable movement without relying on traditional bridge structures, thus improving the robot's applicability and flexibility.

[0039] The key feature of this application is that the obstacle-crossing wheels 43 are respectively positioned at the front end of the housing 1 along the direction of travel, forming a stable support structure together with the walking wheels, easily traversing the gaps between photovoltaic panel arrays. The first drive unit 41 drives the obstacle-crossing wheels 43 to rotate precisely and synchronously via the transmission gear set 42, enabling the cleaning robot to move steadily through narrow and uneven gaps between photovoltaic panel arrays without relying on the bridge, ensuring the efficiency and continuity of cleaning operations. More specifically, the obstacle-crossing wheels 43 are installed at the front end of the walking wheels in the direction of travel, forming a "forward exploration and rear stabilization" layout. When the cleaning robot approaches the gap between photovoltaic panels, the obstacle-crossing wheels 43 first contact the edge of the gap, providing a forward support point for the cleaning robot, while the walking wheels maintain contact with the current photovoltaic panel, forming a rearward support. The first drive unit 41 transmits power to the obstacle-crossing wheels 43 through the transmission gear set 42, ensuring that the obstacle-crossing wheels 43 obtain sufficient torque to overcome the resistance of obstacles. When the cleaning robot needs to cross a gap, the obstacle-crossing wheel 43 first touches the edge of the gap and begins to climb. At this time, the transmission gear set 42 automatically adjusts the power distribution, allowing the obstacle-crossing wheel 43 to obtain greater torque to overcome the climbing resistance. At the same time, the walking wheels maintain good contact with the current photovoltaic panel, providing stable rearward support and ensuring that the cleaning robot's center of gravity is always in a reasonable position to prevent tipping. That is, when the cleaning robot is moving in the complex environment of the photovoltaic panel array, the obstacle-crossing wheel 43 can first probe into the gap between the photovoltaic panels, like a trailblazer, to build a temporary fulcrum for the robot. Then, the walking wheels provide rearward support, allowing the obstacle-crossing wheel 43 to cross the photovoltaic gap.

[0040] It is worth noting that in this application, two sets of walking wheels are provided on both sides of the photovoltaic panel surface perpendicular to the direction of travel. The walking wheels in each set are spaced apart along the direction of travel, and obstacle-crossing wheels 43 are respectively provided at the front end of each set of walking wheels in the direction of travel.

[0041] Specifically, two sets of wheels are positioned on either side of the photovoltaic panel surface perpendicular to the direction of travel, ensuring the cleaning robot's stability and flexibility on the photovoltaic panels. Within each set, the wheels are evenly spaced along the robot's direction of travel, forming a stable support structure. This allows the robot to distribute its weight evenly across the photovoltaic panel, reducing pressure on individual panels and protecting them from damage. Obstacle-crossing wheels 43 are located at both ends of each set's travel direction. These obstacle-crossing wheels 43 are not simply driven wheels; when encountering misaligned photovoltaic panels, they can actively rotate to easily cross obstacles without relying on auxiliary structures such as cable trays, effectively solving the problem of difficult cable tray installation between small-pitch photovoltaic panels. This not only improves the cleaning robot's obstacle-crossing ability but also enhances its adaptability and reliability in complex photovoltaic panel array environments, ensuring the cleaning robot can complete cleaning tasks efficiently and stably.

[0042] Further, refer to Figure 3 The number of transmission gears 421 is even. The obstacle-crossing assembly 4 also includes a first transmission shaft 44 and a second transmission shaft 45. The first transmission shaft 44 is connected to the brush roller 31 and the corresponding transmission gear 421. The second transmission shaft 45 is connected to the obstacle-crossing wheel 43 and the corresponding transmission gear 421. The first driving member 41 is adapted to drive the first transmission shaft 44 and the second transmission shaft 45 to rotate. The rotation direction of the brush roller 31 is opposite to the travel direction, and the rotation direction of the obstacle-crossing wheel 43 is synchronized with the travel direction.

[0043] In this embodiment, the first driving component 41 drives the brush roller 31 to rotate through the first transmission shaft 44, and then drives the obstacle-crossing wheel 43 to rotate through the transmission gear set 42. At this time, the rotation direction of the brush roller 31 is opposite to the direction of travel, and the rotation direction of the obstacle-crossing wheel 43 is synchronized with the direction of travel. This not only optimizes the cleaning effect, but also enhances the obstacle-crossing ability of the cleaning robot in complex photovoltaic panel arrays, enabling it to flexibly shuttle between photovoltaic panels and efficiently complete the cleaning task.

[0044] Specifically, the transmission gears 421 are in even numbers. The transmission gear set 42 can not only change the direction of power transmission, but also amplify or reduce power by adjusting the size and gear ratio of the transmission gears 421 to adapt to the working needs of different components, making the entire power system more balanced and stable. The obstacle-crossing component 4 also includes a first transmission shaft 44 and a second transmission shaft 45, which are the key links for power transmission. The first transmission shaft 44 connects the transmission gear 421 at one end of the transmission gear set 42 in the direction of travel to the brush roller 31 in the cleaning component 3, so that the brush roller 31 can obtain power from the transmission gear set 42 to achieve the rotation cleaning function. The second transmission shaft 45 connects the transmission gear 421 at the other end of the transmission gear set 42 to the obstacle-crossing wheel 43. The obstacle-crossing wheel 43 can obtain power from the transmission gear set 42 to achieve active rotation, thereby actively crossing obstacles and improving the robot's obstacle-crossing ability.

[0045] In actual operation, the first drive component 41, acting as the "heart" of the entire power system, transmits its power to both the first drive shaft 44 and the second drive shaft 45, causing them to rotate. When the first drive shaft 44 rotates, it not only transmits power but also changes the direction and speed of power transmission through the transmission gear set 42, thereby driving the brush roller 31 and the obstacle-crossing wheel 43 to rotate in different directions. Specifically, the rotation direction of the brush roller 31 is set to be opposite to the robot's direction of travel, allowing it to clean the photovoltaic panels in a reverse manner, which is more conducive to pushing dirt and dust to one side of the cleaning path, thus improving cleaning efficiency. In addition, the reverse-rotating brush roller 31 can also reduce the risk of scratching the surface of the photovoltaic panels during cleaning to a certain extent, protecting the surface quality of the photovoltaic panels. Meanwhile, the obstacle-crossing wheels 43 rotate in the same direction as the robot's movement. This allows the obstacle-crossing wheels 43 to actively "climb" when encountering obstacles, easily traversing gaps between misaligned photovoltaic panels without getting stuck. This avoids the jamming or slippage caused by inconsistent rotation directions of the obstacle-crossing wheels 43. The synchronization of the obstacle-crossing wheels 43's rotation direction with the robot's movement not only optimizes the cleaning effect but also enhances the robot's obstacle-crossing ability in complex photovoltaic panel arrays, enabling it to flexibly move between the panels and efficiently complete cleaning tasks.

[0046] Preferably, the obstacle-crossing assembly 4 further includes a transmission component 46, a first drive gear 411, and a second drive gear 441. The first drive component 41 is disposed outside the housing 1, and the first drive gear 411 is disposed on the output shaft of the first drive component 41. The second drive gear 441 is disposed on the first transmission shaft 44. The first drive gear 411 is adapted to drive a pair of second drive gears 441 through the transmission component 46, so that the obstacle-crossing wheels 43 located at both ends of the housing 1 operate synchronously.

[0047] The obstacle-crossing component 4 also includes a transmission component 46, a first drive gear 411, and a second drive gear 441, which work in conjunction with the first drive shaft 44 and the second drive shaft 45 to achieve precise power transmission and distribution. The first drive component 41, as the source of the entire power system, is strategically positioned outside the housing 1, which helps balance the robot's center of gravity and ensures its stability during obstacle crossing. The first drive gear 411 is mounted on the output shaft of the first drive component 41, becoming a key component for power output. A pair of first drive shafts 44 are symmetrically arranged at both ends of the housing 1 along the direction of travel. The second drive gears 441 are mounted on the first drive shafts 44 and cooperate with the first drive gears 411. The first drive gears 411 establish a transmission connection with the two second drive gears 441 through the transmission component 46, forming an efficient power transmission network. This allows power to be transmitted evenly and synchronously from the first drive component 41 in the middle of the housing 1 to the obstacle-crossing wheels 43 at both ends of the direction of travel, ensuring the synchronous operation of the obstacle-crossing wheels 43. Driven by the same power source of the first drive unit 41, the brush roller 31 and the obstacle-crossing wheel 43 can operate in different rotational directions, achieving efficient coordination of cleaning and obstacle-crossing functions. While cleaning the photovoltaic panels, the cleaning robot can easily handle various obstacles, ensuring the continuity and efficiency of the cleaning work.

[0048] When the cleaning robot moves across the photovoltaic panel array and encounters panels of varying heights, the synchronized operation of the obstacle-crossing wheels 43 ensures that the robot can smoothly and coordinately traverse obstacles. This synchronization avoids problems such as robot tilting or jamming that could occur due to asynchronous rotation of the obstacle-crossing wheels 43, greatly improving the robot's obstacle-crossing ability and adaptability, enabling it to work stably and efficiently in complex photovoltaic panel array environments. Furthermore, when crossing gaps or misalignments between photovoltaic panels, the synchronized operation of the obstacle-crossing wheels 43 provides uniform support for the cleaning robot, ensuring that its center of gravity remains in a reasonable position and avoiding the risk of tilting or overturning due to malfunctioning obstacle-crossing wheels on one side. This stability not only helps protect the robot's structural safety but also prevents accidental collisions or damage to the photovoltaic panels, extending their lifespan.

[0049] It is worth noting that the transmission component 46 plays a crucial role, not only transmitting power but also ensuring the stability and reliability of power transmission, guaranteeing uninterrupted power transmission even under complex terrain and high-intensity working conditions. The transmission component 46 employs flexible transmission elements such as transmission chains.

[0050] Furthermore, the obstacle-crossing component 4 also includes a tensioning wheel 47, which is located below the first drive gear 411 and is suitable for adjusting the tension of the transmission component 46. In this embodiment, the tensioning wheel 47 is positioned directly below the first drive gear 411, allowing it to precisely apply a downward tension force to the transmission chain. This tension force can be adjusted according to actual working conditions, ensuring that the transmission chain remains in an optimal tension state during operation. When encountering uneven photovoltaic panel surfaces or obstacles, the tension of the tensioning wheel 47 can be dynamically adjusted to prevent the transmission chain from slipping or skipping teeth due to external impacts. Simultaneously, the presence of the tensioning wheel 47 reduces wear on the transmission chain and gears, extending the service life of the entire transmission system.

[0051] Further, refer to Figure 1 and Figure 3 The obstacle crossing component 4 also includes several mounting frames 11, which are mounted on both ends of the housing 1 along the direction of travel. The first drive shaft 44 and the second drive shaft 45 are respectively disposed on both ends of the mounting frame 11 along the direction of travel. The transmission gear set 42 is mounted on the side of the mounting frame 11 away from the photovoltaic panel, and the obstacle crossing wheel 43 is mounted on the side of the mounting frame 11 close to the photovoltaic panel.

[0052] In this embodiment, the mounting frame 11 enables convenient disassembly and maintenance of the obstacle-crossing component 4, while ensuring that the cleaning robot can still perform cleaning and walking operations normally after the obstacle-crossing wheel 43 is removed. This not only improves the maintainability and flexibility of the cleaning robot, but also reduces maintenance costs and improves maintenance efficiency, demonstrating significant practicality and economy.

[0053] Specifically, mounting brackets 11 are installed at both ends of the housing 1 along the direction of travel, forming a stable support frame. At each end of the mounting bracket 11 along the direction of travel, a first drive shaft 44 and a second drive shaft 45 are respectively provided. A transmission gear set 42 is installed on the side of the mounting bracket 11 away from the photovoltaic panel array, while an obstacle-crossing wheel 43 is installed on the side of the mounting bracket 11 closer to the photovoltaic panel array. This ensures that the obstacle-crossing wheel 43 can accurately contact the photovoltaic panels, while also ensuring that the transmission gear set 42 and other transmission components are effectively protected inside the housing 1, avoiding interference from the external environment.

[0054] The obstacle-crossing wheel 43 and the driving wheel are respectively mounted on the mounting frame 11 and the housing 1, giving them a high degree of independence. When maintenance or replacement of the obstacle-crossing wheel 43 or the transmission gear set 42 is required, only the corresponding mounting frame 11 needs to be removed, without disassembling the entire cleaning robot, simplifying the maintenance process. For example, if an obstacle-crossing wheel 43 is worn or damaged, only the corresponding mounting frame 11 needs to be removed, the obstacle-crossing wheel 43 replaced, and then reinstalled, without affecting other components. The easy-to-disassemble design means that maintenance personnel can quickly locate and solve problems, reducing robot downtime. In practical applications, photovoltaic power stations usually require regular maintenance with tight schedules. This design makes maintenance work more efficient, allowing maintenance personnel to complete component replacement or repair in a short time, ensuring the robot can return to work as soon as possible.

[0055] It is worth noting that even after removing the obstacle-crossing wheel 43, the cleaning and walking functions of the sweeping robot can still be used normally. This is because the power systems of the cleaning component 3 and the walking component 2 are relatively independent. The walking wheel can still operate normally through its own drive system, propelling the sweeping robot across the photovoltaic panels, while the brush roller 31 can continue its cleaning work. This provides users with great flexibility, allowing the sweeping robot to still perform its basic functions even when some components are damaged or require maintenance, minimizing interference with the photovoltaic panel cleaning process.

[0056] Further, refer to Figure 4 The walking assembly 2 also includes a second drive member 22, a drive gear set 23, and a first driven gear 24. The first driven gear is connected to the walking wheel 21, and the output shaft of the second drive member 22 is poweredly connected to the first driven gear 24 through the drive gear set 23. The drive gear set 23 includes a first drive gear 231, a connecting shaft 232, a second drive gear 233, and a pair of third drive gears 234. The first drive gear 231 is disposed on the output shaft of the second drive member 22, and the second drive gear 233 is disposed on the connecting shaft 232 and meshes with the first drive gear 231. The connecting shaft 232 is arranged along the traveling direction, and a pair of third drive gears 234 are disposed at both ends of the connecting shaft 232. The third drive gears 234 are adapted to mesh with the first driven gears 24.

[0057] Specifically, the walking wheels 21 are mounted on the end of the housing 1 near the photovoltaic array, closely fitting the upper surface of the photovoltaic array to ensure the robot can move smoothly and efficiently on the photovoltaic panel. Obstacle-crossing wheels 43 are located at both ends of the walking wheels 21 in the direction of travel. The first drive gear 231 is mounted on the output shaft of the second drive unit 22, serving as the starting point for power transmission. The connecting shaft 232 is positioned along the direction of travel, with both ends mounted on the housing 1 to ensure the stability and accuracy of the drive gear set 23. The second drive gear 233 is mounted on the connecting shaft 232, meshing with the first drive gear 231, and is responsible for transmitting power from the first drive gear 231 to the connecting shaft 232. A pair of third drive gears 234 are located at both ends of the connecting shaft 232, connected to the second drive gear 233, further transmitting power. When the second drive unit 22 is activated, its output shaft drives the first drive gear 231 to rotate. The first drive gear 231 and the second drive gear 233 mesh with each other, transmitting power to the connecting shaft 232. Subsequently, the third drive gear 234 at both ends of the connecting rod shaft 232 meshes with the first driven gear 24, transmitting power to the walking wheel 21 and driving it to rotate. Through the cooperation of the drive gear set 23 and the first driven gear 24, the walking assembly 2 can achieve efficient power transmission, ensuring that the cleaning robot has sufficient power and stability when moving on the photovoltaic panel.

[0058] Furthermore, the walking assembly 2 also includes a guide wheel 25 and a second driven gear 26. The guide wheel 25 is disposed at the bottom of the housing 1 and is adapted to walk along the side of the photovoltaic panel. The second driven gear 26 is connected to the guide wheel 25 and meshes with the third driving gear 234.

[0059] In this embodiment, the walking component 2 also includes a guide wheel 25 and a second driven gear 26, which enables the cleaning robot to more effectively cross the gaps between misaligned photovoltaic panel arrays. The coordinated work of the obstacle-crossing wheel 43 and the guide wheel 25 allows the cleaning robot to maintain stability and continuity in the complex photovoltaic panel array environment, and it will not get stuck or stop working due to small terrain changes.

[0060] Specifically, guide wheels 25 are installed at the bottom of the housing 1 for walking on the side of the photovoltaic panel array, so that the cleaning robot can not only move smoothly on the upper surface of the photovoltaic panel by walking wheels 21, but also continue to move when it encounters the side or steps between photovoltaic panels.

[0061] When the photovoltaic panel array is misaligned, the obstacle-crossing wheel 43 first provides support, helping the cleaning robot overcome the height difference. At this time, the guide wheel 25, supported by the obstacle-crossing wheel 43, contacts the side of the photovoltaic panel and begins to function. Due to the meshing of the second driven gear 26 and the third driving gear 234, the guide wheel 25 can obtain power, actively rotate, and move along the side of the photovoltaic panel, thereby helping the robot to smoothly cross steps or other obstacles.

[0062] The second driven gear 26 is connected to the guide wheel 25 and meshes with the third driving gear 234 in the driving gear set 23, enabling the guide wheel 25 to obtain power through gear transmission. This ensures that it can actively rotate when needed, providing additional driving and support forces. Specifically, when the second drive unit 22 is activated, power is transmitted to the walking wheel 21 and the guide wheel 25 through the driving gear set 23. More specifically, power is transmitted from the output shaft of the second drive unit 22 to the first driving gear 231, and then through the second driving gear 233 and the third driving gear 234 to the first driven gear 24 and the second driven gear 26, respectively driving the walking wheel 21 and the guide wheel 25 to rotate. This ensures the coordinated power transmission of the cleaning robot in complex terrain, allowing each walking wheel to work together or independently as needed. At this time, the guide wheel 25 can be considered as the second obstacle-crossing wheel 43.

[0063] Inside the housing 1, there is also a guide 235. The connecting rod shaft 232 passes through the guide 235. The guide 235 is fixedly connected to the top of the housing 1. The guide 235 fixes and guides the connecting rod shaft, so that it is set along the direction of travel.

[0064] Furthermore, the second drive member 22 of the walking component 2 is disposed on the top of the housing 1 and is arranged along the height direction of the housing 1, and the first drive member 41 of the obstacle crossing component 4 is disposed at one end of the housing 1 near the photovoltaic array and is arranged along the width direction of the housing 1.

[0065] In this embodiment, the second drive member 22 is disposed on the top of the housing 1 and installed along the height direction of the housing 1, which helps to balance the center of gravity of the robot and avoid the cleaning robot from becoming top-heavy when moving or crossing obstacles due to the excessive weight of the second drive member 22; the first drive member 41 is installed at one end of the housing 1 near the photovoltaic panel array and is disposed along the width direction of the housing 1, so that the first drive member 41 can provide power to the obstacle crossing component 4 more directly and drive the obstacle crossing wheel 43 to rotate through the transmission gear set 42.

[0066] Specifically, the second drive unit 22 is located at the top of the housing 1 and installed along the height direction of the housing 1, enabling the second drive unit 22 to efficiently perform its power output function in vertical space. Power is transmitted to the walking wheels 21 and guide wheels 25 via the active gear set 23, ensuring that the robot can walk stably and efficiently on the upper surface and sides of the photovoltaic panel array. The first drive unit 41 is installed at the end of the housing 1 near the photovoltaic panel array and is arranged along the width direction of the housing 1, allowing the first drive unit 41 to provide power more directly to the obstacle-crossing component 4, driving the obstacle-crossing wheel 43 to rotate via the transmission gear set 42. When the cleaning robot needs to cross gaps or misalignments between photovoltaic panels, the power of the first drive unit 41 can be quickly transmitted to the obstacle-crossing wheel 43, helping the robot to smoothly cross obstacles. This shortens the transmission path between the first drive unit 41 and the obstacle-crossing wheel 43, reducing energy loss during power transmission and improving transmission efficiency.

[0067] By vertically mounting the second drive unit 22 on the top of the housing 1 and horizontally mounting the first drive unit 41 on one end of the housing 1, the internal space of the cleaning robot is utilized more efficiently. Within the limited space of the housing 1, the walking component 2 and the obstacle-crossing component 4 can be arranged compactly and orderly, avoiding mutual interference between components, while also reserving sufficient installation space for other components such as the brush roller 31 and sensors.

[0068] The top layout of the second drive component 22 and the end layout of the first drive component 41 also help to balance the robot's center of gravity, enabling it to maintain good stability under various complex terrain conditions. Whether on a flat photovoltaic panel surface or in a complex environment with uneven surfaces and steps, the robot can walk and overcome obstacles stably thanks to the reasonable drive component layout and power transmission design.

[0069] It is worth noting that the layout of the second drive component 22 not only improves space utilization and transmission efficiency, but also enhances the stability and adaptability of the cleaning component 3 robot. At the same time, it facilitates maintenance and assembly, providing strong support for the efficient cleaning and obstacle crossing of the cleaning component 3 robot in the photovoltaic panel array.

[0070] It should be noted that the above embodiments can be freely combined as needed. The above are merely preferred embodiments of this utility model. It should be pointed out that for those skilled in the art, several improvements and modifications can be made without departing from the principle of this utility model, and these improvements and modifications should also be considered within the protection scope of this utility model.

Claims

1. A cleaning robot characterized by comprising: Includes the housing and obstacle-crossing components; The housing is provided with a walking assembly and a cleaning assembly. The walking assembly includes a plurality of walking wheels adapted to walk on the photovoltaic panel array, and the cleaning assembly includes a brush roller for cleaning the surface of the photovoltaic panel. The obstacle-crossing assembly includes a first driving member, a transmission gear set, and a plurality of obstacle-crossing wheels. The obstacle-crossing assembly is respectively disposed at both ends of the housing along the traveling direction. The transmission gear set includes a plurality of meshing transmission gears. One transmission gear of the transmission gear set closer to the first driving member is poweredly connected to the first driving member. Another transmission gear of the transmission gear set away from the first driving member is connected to the obstacle-crossing wheel. The obstacle-crossing wheel is disposed at the front end of the traveling wheel in the traveling direction, so that the obstacle-crossing wheel and the traveling wheel form a stable support structure in the traveling direction that can cross the gaps between the photovoltaic panel array.

2. A cleaning robot according to claim 1, characterized in that, The number of transmission gears is even, and the obstacle-crossing assembly further includes a first transmission shaft and a second transmission shaft. The first transmission shaft connects the brush roller and the corresponding transmission gear, and the second transmission shaft connects the obstacle-crossing wheel and the corresponding transmission gear. The first driving member is adapted to drive the first transmission shaft and the second transmission shaft to rotate, the brush roller rotates in the opposite direction to the direction of travel, and the obstacle-crossing wheel rotates in the same direction as the direction of travel.

3. A cleaning robot according to claim 2, characterized in that, The obstacle-crossing assembly further includes a transmission component, a first drive gear, and a second drive gear. The first drive component is disposed outside the housing, and the first drive gear is disposed on the output shaft of the first drive component. The second drive gear is disposed on the first drive shaft, and the first drive gear is adapted to drive a pair of second drive gears through the transmission member, so that the obstacle-crossing wheels located at both ends of the housing operate synchronously.

4. A cleaning robot according to claim 3, characterized in that, The obstacle-crossing assembly also includes a tension wheel, which is located below the first drive gear and is adapted to adjust the tension of the transmission component.

5. A cleaning robot according to claim 2, characterized in that, The obstacle-crossing assembly also includes several mounting brackets, which are mounted at both ends of the housing along the travel direction. The first drive shaft and the second drive shaft are respectively disposed at both ends of the mounting bracket along the travel direction. The transmission gear set is mounted on the side of the mounting bracket away from the photovoltaic panel, and the obstacle-crossing wheel is mounted on the side of the mounting bracket close to the photovoltaic panel.

6. A cleaning robot according to claim 1, characterized in that, Two sets of the traveling wheels are provided on both sides of the surface of the photovoltaic panel perpendicular to the direction of travel. The traveling wheels in each set are spaced apart along the direction of travel, and the obstacle-crossing wheels are respectively located at the front end of each set of traveling wheels in the direction of travel.

7. A cleaning robot according to any one of claims 1-6, characterized in that, The walking assembly further includes a second driving member, a driving gear set, and a first driven gear. The first driven gear is connected to one of the walking wheels, and the output shaft of the second driving member is poweredly connected to the first driven gear through the driving gear set.

8. A cleaning robot according to claim 7, characterized in that, The drive gear set includes a first drive gear, a connecting rod shaft, a second drive gear, and a pair of third drive gears. The first drive gear is disposed on the output shaft of the second drive member, the second drive gear is disposed on the connecting rod shaft and meshes with the first drive gear, the connecting rod shaft is disposed along the travel direction and the pair of third drive gears are disposed at both ends of the connecting rod shaft, and the third drive gears are adapted to mesh with the first driven gear.

9. A cleaning robot according to claim 8, characterized in that, The walking assembly also includes a second driven gear and a guide wheel. The guide wheel is disposed at the bottom of the housing and is adapted to walk along the side of the photovoltaic panel. The second driven gear is connected to the guide wheel and meshes with the third driving gear.

10. A cleaning robot according to claim 9, characterized in that, The housing is also provided with a guide member, through which the connecting rod shaft passes and is fixedly connected to the top of the housing.

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