A photovoltaic cleaning robot

Abstract

The application provides a photovoltaic cleaning robot, which comprises a robot body, a track walking assembly and a rolling brush assembly; the track is capable of circulating rotation relative to the box body to walk on the surface of the photovoltaic assembly; the supporting frame and the shock absorbing wheel module are both built-in the track, the supporting frame is connected to the box body, the shock absorbing wheel module is arranged between the supporting frame and the track and elastically acts on the track; the rolling brush is rotatably connected to the movable supporting frame; the movable supporting frame is movably connected to the box body; the shock absorbing member is provided with a first shock absorbing branch, the first shock absorbing branch elastically contacts the movable supporting frame and exerts elastic force on the movable supporting frame, so that the track walking assembly and the rolling brush assembly respectively realize track shock absorption and rolling brush shock absorption through the multiple shock absorbing wheel modules and the shock absorbing member, thereby realizing multiple shock absorption effects and improving the shock absorption effect of the photovoltaic cleaning robot. Meanwhile, the noise of the photovoltaic cleaning robot in the working process is reduced.

Description

Technical Field

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

[0002] With the development of technology, photovoltaic cleaning robots are being used to clean photovoltaic modules and can walk on the surface of these modules. In existing technology, photovoltaic cleaning robots include a robot body, a tracked walking assembly, and a roller brush assembly. The tracked walking assembly is connected to the robot body and moves relative to the photovoltaic modules, while the roller brush assembly is connected to the robot body and cleans the photovoltaic modules. However, the tracked walking assembly and the roller brush assembly experience significant shaking during operation, resulting in poor shock absorption in existing photovoltaic cleaning robots. Utility Model Content

[0003] The purpose of this utility model is to provide a photovoltaic cleaning robot. The robot body is equipped with a housing and an electronic control module. The housing has a cavity in which the electronic control module is housed and protected by the exterior of the housing. The tracked walking assembly includes tracks, a support frame, and multiple shock-absorbing wheel modules. The tracks are located on the outside of the housing and can rotate cyclically relative to the housing to walk on the surface of the photovoltaic modules. The support frame and shock-absorbing wheel modules are both built into the tracks. The support frame is connected to the housing, and the shock-absorbing wheel modules are located between the support frame and the tracks, and elastically act on the tracks. The roller brush assembly includes a movable bracket, shock absorbers, and rollers. The brush and roller brush are rotatably connected to a movable support. The movable support is movably connected to the housing and can move up and down relative to the housing. A shock absorber is disposed between the housing and the movable support. The shock absorber has a first shock absorber arm that elastically contacts the movable support and applies an elastic force to it. This allows the track-walking assembly and the roller brush assembly to achieve track shock absorption and roller brush shock absorption respectively through multiple shock absorber wheel modules and shock absorbers, thus achieving multiple shock absorption effects. This prevents excessive shaking of the track-walking assembly and the roller brush assembly during operation and improves the shock absorption effect of the photovoltaic cleaning robot. At the same time, it reduces the noise of the photovoltaic cleaning robot during operation.

[0004] To achieve the above objectives, this utility model provides the following technical solution: a photovoltaic cleaning robot, which is used to clean photovoltaic modules and can walk on the surface of the photovoltaic modules; the photovoltaic cleaning robot includes:

[0005] The robot body includes a housing and an electronic control module. The housing has a cavity, and the electronic control module is housed in the cavity and protected by the outside of the housing.

[0006] The tracked walking assembly includes a track, a support frame, and multiple shock-absorbing wheel modules. The track is disposed on the outside of the housing and can rotate cyclically relative to the housing to walk on the surface of the photovoltaic module. The support frame and the shock-absorbing wheel modules are both built into the track. The support frame is connected to the housing, and the shock-absorbing wheel modules are disposed between the support frame and the track and elastically act on the track.

[0007] A roller brush assembly includes a movable support, a shock absorber, and a roller brush; the roller brush is rotatably connected to the movable support; the movable support is movably connected to the housing and can move up and down relative to the housing; the shock absorber is disposed between the housing and the movable support, and the shock absorber has a first shock absorber arm, which elastically contacts the movable support and applies an elastic force to the movable support.

[0008] Optionally, the plurality of shock-absorbing wheel modules include a first shock-absorbing wheel module and a plurality of second shock-absorbing wheel modules;

[0009] The first shock-absorbing wheel module and a plurality of second shock-absorbing wheel modules are arranged along the length of the support frame and elastically act on different positions of the track;

[0010] The first shock-absorbing wheel module is disposed at the front or rear end of the support frame and acts on the bending position of the track;

[0011] Multiple second shock-absorbing wheel modules are disposed in the middle of the support frame and act on the bottom of the track.

[0012] Optionally, the first shock-absorbing wheel module includes a first connecting frame and a plurality of first shock-absorbing wheels;

[0013] The first connecting frame is movably connected to the support frame; a plurality of first shock-absorbing wheels are rotatably connected to the first connecting frame and are located at different positions on the first connecting frame; the plurality of first shock-absorbing wheels continuously contact the track as the first connecting frame moves relative to the support frame;

[0014] The first connecting frame is provided with a first connecting part, a first supporting part and a plurality of first rotating parts; the first connecting part is rotatably connected to the supporting frame; the first supporting part is disposed on one side of the first connecting part and is elastically movable relative to the supporting frame; there is an elastic force between the first supporting part and the supporting frame; a plurality of first shock-absorbing wheels are rotatably connected to corresponding first rotating parts, and the plurality of first rotating parts are arranged on both sides of the first connecting part.

[0015] Optionally, the movable support is swayably connected to the housing and swings in the vertical direction; the roller brush lifts the movable support upward when it contacts an object on the photovoltaic module;

[0016] The housing is provided with a first support arm; the movable bracket is hinged to the housing and is close to or away from the first support arm; the shock absorber is connected to the first support arm, and the first shock absorber arm contacts the movable bracket; the shock absorber is a torsion spring, and the shock absorber is sleeved on the first support arm.

[0017] Optionally, the photovoltaic cleaning robot further includes a suction cup assembly, which includes a mounting base, a lifting component, and a suction cup; the mounting base is housed in the receiving cavity and connected to the housing; the lifting component is vertically connected to the mounting base and moves up and down in the vertical direction; the suction cup is connected to the lower end of the lifting component and is exposed on the outside of the housing; the suction cup moves closer to or further away from the lower side wall of the housing as the lifting component moves relative to the mounting base; the suction cup is used to adsorb or detach from the surface of the photovoltaic module.

[0018] Optionally, the photovoltaic cleaning robot further includes a water spraying assembly, which includes a connecting seat, a water inlet pipe, and a water spraying component; the connecting seat is detachably connected to the housing and can be quickly connected or disconnected relative to the housing; the water inlet pipe is connected to the connecting seat; the water spraying component is located on one side of the roller brush and is connected to the water inlet pipe through a water pipe; the water spraying component is used to spray water onto the roller brush or the surface of the photovoltaic module.

[0019] Optionally, a diverter is provided between the water inlet pipe and the water spray element; the diverter connects the water inlet pipe and the water spray element; the water entering through the water inlet pipe is diverted to the water spray element by the diverter and sprayed out by the water spray element.

[0020] Optionally, there are two roller brushes, which are disposed at the front and rear of the robot body; there are two water sprayers, which are distributed on one side of the corresponding roller brushes; the diverter connects the two water sprayers and diverts water to the two water sprayers.

[0021] The diverter is arranged in a T-shape and has a first inlet end and multiple diverter ends. The first inlet end is connected to the inlet pipe through a pipe. The multiple diverter ends are all connected to the drain end of the same first inlet end and are arranged in different directions. The multiple diverter ends are connected to the corresponding water spraying components through pipes.

[0022] Optionally, the photovoltaic cleaning robot further includes a sensor module, which includes a sensor mounting base and a sensor. The sensor mounting base is detachably mounted on the housing and has a through hole that connects to the external environment. The sensor is mounted on the sensor mounting base, with its sensing end exposed through the through hole, and is used to detect photovoltaic modules located below the housing. The sensor mounting base is sealed to the housing, forming a sealed area between the sensor mounting base and the housing, and the sensor is located within the sealed area.

[0023] Optionally, the sensor mounting base has a sealing groove on the side wall facing the bottom plate of the housing, and the sealing element is fitted into the sealing groove and is squeezed by the sensor mounting base and the bottom plate; the sealing groove is arranged in a ring, and the sealing element is a sealing ring, a sealing ring or a sealing gasket.

[0024] Compared with the prior art, the beneficial effects of this utility model are:

[0025] This utility model provides a photovoltaic cleaning robot. The robot body is equipped with a housing and an electronic control module. The housing has a cavity in which the electronic control module is housed and protected by the outside of the housing. The tracked walking assembly includes tracks, a support frame, and multiple shock-absorbing wheel modules. The tracks are located on the outside of the housing and can rotate cyclically relative to the housing to walk on the surface of the photovoltaic modules. The support frame and shock-absorbing wheel modules are both built into the tracks. The support frame is connected to the housing, and the shock-absorbing wheel modules are located between the support frame and the tracks, and act elastically on the tracks. The roller brush assembly includes a movable bracket, shock absorbers, and a roller brush. The roller brush is rotatably connected to the movable support; the movable support is movably connected to the housing and can move up and down relative to the housing; a shock absorber is disposed between the housing and the movable support, and the shock absorber has a first shock absorber arm that elastically contacts the movable support and applies an elastic force to the movable support. This allows the track-walking assembly and the roller brush assembly to respectively achieve track shock absorption and roller brush shock absorption through multiple shock absorber wheel modules and shock absorbers, thereby achieving a multi-stage shock absorption effect and preventing excessive shaking of the track-walking assembly and roller brush assembly during operation, thus improving the shock absorption effect of the photovoltaic cleaning robot. At the same time, it reduces the noise of the photovoltaic cleaning robot during operation. Attached Figure Description

[0026] To more clearly illustrate the technical solutions in the embodiments of this application, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying 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.

[0027] To gain a more complete understanding of this application and its beneficial effects, the following description will be provided in conjunction with the accompanying drawings. In the following description, the same reference numerals denote the same parts.

[0028] Figure 1 A schematic diagram of a photovoltaic cleaning robot according to one embodiment of this application is shown.

[0029] Figure 2 Another schematic diagram of the photovoltaic cleaning robot according to one embodiment of this application is shown.

[0030] Figure 3 A schematic diagram showing the connection between the tracked walking assembly and the housing of a photovoltaic cleaning robot according to an embodiment of this application is shown.

[0031] Figure 4 A schematic diagram of the tracked walking assembly of a photovoltaic cleaning robot according to an embodiment of this application is shown.

[0032] Figure 5 A schematic diagram of the first shock-absorbing wheel module of a photovoltaic cleaning robot according to an embodiment of this application is shown.

[0033] Figure 6 A schematic diagram of the second shock-absorbing wheel module of a photovoltaic cleaning robot according to an embodiment of this application is shown.

[0034] Figure 7 An exploded view of the roller brush assembly of a photovoltaic cleaning robot according to one embodiment of this application is shown.

[0035] Figure 8 A schematic diagram of the suction cup assembly of a photovoltaic cleaning robot according to one embodiment of this application is shown.

[0036] Figure 9 A schematic diagram of the air path assembly of a photovoltaic cleaning robot according to one embodiment of this application is shown.

[0037] Figure 10 A schematic diagram of a water spray assembly of a photovoltaic cleaning robot according to an embodiment of this application is shown.

[0038] Figure 11 A schematic diagram of a diverter for a photovoltaic cleaning robot according to one embodiment of this application is shown.

[0039] Figure 12 A schematic diagram of the sensor module and camera module of a photovoltaic cleaning robot according to an embodiment of this application is shown.

[0040] Figure 13 A cross-sectional view of the sensor module of a photovoltaic cleaning robot according to an embodiment of this application is shown.

[0041] Figure Labels

[0042] 100. Photovoltaic cleaning robot;

[0043] 10. Robot body; 11. Box; 11a. Receiving cavity; 111. First arm; 111a. Through hole; 112. Second arm; 12. Electrical control module

[0044] 20. Tracked walking assembly; 21. Track; 22. Support frame; 221. First connecting shaft; 222. Third connecting shaft; 23. Shock-absorbing wheel module; 231. First shock-absorbing wheel module; 2311. First connecting frame; 23111. First connecting part; 23112. First support part; 231121. Second connecting shaft; 23113. First rotating part; 2312. First shock-absorbing wheel; 232. Second shock-absorbing wheel module; 2321. Second connecting frame; 23211. Second connecting part 23212, Second support part; 232121, Fourth connecting shaft; 23213, Second rotating part; 2322, Second shock-absorbing wheel; 233, First elastic module; 2331, First connecting sleeve; 2331a, First elongated hole; 2332, First elastic element; 234, Second elastic module; 2341, Second connecting sleeve; 2341a, Second elongated hole; 2342, Second elastic element; 24, Driving wheel; 25, Driven wheel; 26, Motor; 27, Gear transmission module;

[0045] 30. Roller brush assembly; 31. Movable bracket; 31a. Groove; 32. Shock absorber; 321. First shock absorber arm; 322. Second shock absorber arm; 33. Roller brush;

[0046] 40. Suction cup assembly; 41. Mounting base; 42. Lifting component; 43. Suction cup; 44. Power component; 45. Linkage module;

[0047] 50. Gas path assembly; 51. Pump body; 52. Vacuum filter; 53. Pressure sensor; 54. First gas pipe; 55. Second gas pipe; 56. First exhaust section; 57. Third gas pipe; 58. Second exhaust section; 581. Fourth gas pipe; 59. Support component;

[0048] 60. Water spray assembly; 61. Connecting seat; 62. Water inlet pipe; 63. Water spray component; 631. Water spray head; 64. Diverter component; 641. First water inlet end; 642. Diverter end; 65. Protective cover; 66. Rotating seat; 67. Bearing;

[0049] 70. Sensor module; 71. Sensor mounting base; 71a. Through hole; 71b. Sealing groove 31a; 711. Mounting boss; 711a. Receiving groove; 72. Sensor; 73. Seal; 74. Light-transmitting cover;

[0050] 80. Camera module. Detailed Implementation

[0051] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of this application, and not all of them. All other embodiments obtained by those skilled in the art based on the embodiments of this application without creative effort are within the scope of protection of this application.

[0052] Please refer to the attached document. Figures 1-13 This application provides a photovoltaic cleaning robot 100, which is used to clean photovoltaic modules and can walk on the surface of the photovoltaic modules.

[0053] Please refer to the attached document. Figures 1-13 In this embodiment, the photovoltaic cleaning robot 100 includes a robot body 10, a tracked walking assembly 20, and a roller brush assembly 30. The robot body 10 is provided with a housing 11 and an electronic control module 12. The housing 11 has a receiving cavity 11a, and the electronic control module 12 is housed in the receiving cavity 11a and protected by the outside of the housing 11. The tracked walking assembly 20 includes a track 21, a support frame 22, and multiple shock-absorbing wheel modules 23. The track 21 is located on the outside of the housing 11 and can rotate cyclically relative to the housing 11 to walk on the surface of the photovoltaic module. The support frame 22 and the shock-absorbing wheel modules 23 are both built into the track 21. The support frame 22 is connected to the housing 11, and the shock-absorbing wheel modules 23 are located between the support frame 22 and the track 21 and elastically act on the track 21. The roller brush assembly 30 includes... The system includes a movable support 31, a shock absorber 32, and a roller brush 33. The roller brush 33 is rotatably connected to the movable support 31. The movable support 31 is movably connected to the housing 11 and can move up and down relative to the housing 11. The shock absorber 32 is disposed between the housing 11 and the movable support 31. The shock absorber 32 has a first shock absorber arm 321, which elastically contacts the movable support 31 and applies an elastic force to it. This allows the tracked walking assembly 20 and the roller brush assembly 30 to respectively absorb shocks from the track 21 and the roller brush 33 through multiple shock absorber wheel modules 23 and the shock absorber 32, thus achieving multiple shock absorption effects and preventing excessive shaking of the tracked walking assembly 20 and the roller brush assembly 30 during operation, thereby improving the shock absorption effect of the photovoltaic cleaning robot 100. Simultaneously, it reduces the noise of the photovoltaic cleaning robot 100 during operation.

[0054] Please refer to the attached document. Figures 1-7 In this embodiment, the robot body 10 serves as a support component of the photovoltaic cleaning robot 100, and the robot body 10 is used to support the track walking assembly 20 and the roller brush assembly 30.

[0055] The robot body 10 is provided with a housing 11 and an electronic control module 12. The housing 11 is provided with a receiving cavity 11a, which serves as the internal space of the housing 11. The electronic control module 12 is housed in the receiving cavity 11a, so that the electronic control module 12 can be stored inside the housing 11. The electronic control module 12 is protected by the outside of the housing 11, which avoids the electronic control module 12 from being subjected to external physical impact and ensures the performance of the electronic control module 12.

[0056] The tracked walking assembly 20 includes a track 21, a support frame 22, and multiple shock-absorbing wheel modules 23. The track 21 is located on the outside of the housing 11 and can rotate cyclically relative to the housing 11 to adjust the position of the track 21 relative to the housing 11 so as to walk on the surface of the photovoltaic module and achieve the walking effect of the tracked walking assembly 20. The support frame 22 and the shock-absorbing wheel modules 23 are both built into the track 21. The support frame 22 is connected to the housing 11, and the shock-absorbing wheel modules 23 are located between the support frame 22 and the track 21 and act elastically on the track 21 to provide elastic shock absorption for the movement of the track 21. This ensures the elastic shock absorption effect of the track 21, avoids excessive shaking during the movement of the tracked walking assembly 20, and reduces the walking noise of the tracked walking assembly 20.

[0057] The roller brush assembly 30 includes a movable bracket 31, a shock absorber 32, and a roller brush 33. The roller brush 33 is rotatably connected to the movable bracket 31 to adjust its position relative to the movable bracket 31, thereby facilitating the brushing of the photovoltaic module surface during rotation. The movable bracket 31 is movably connected to the housing 11 and can move up and down relative to the housing 11 to adjust its vertical position. The shock absorber 32 is disposed between the housing 11 and the movable bracket 31. The shock absorber 32 has a first shock absorber arm 321, which elastically contacts the movable bracket 31 and applies an elastic force to the movable bracket 31 to reduce noise during the descent of the movable bracket 31. This design allows the tracked walking assembly 20 and the roller brush assembly 30 to respectively absorb shocks from the track 21 and roller brush 33 via multiple shock-absorbing wheel modules 23 and shock-absorbing components 32, thus achieving a multi-layered shock absorption effect. This prevents excessive shaking of the tracked walking assembly 20 and roller brush assembly 30 during operation, improving the shock absorption effect of the photovoltaic cleaning robot 100. Simultaneously, it reduces the noise level of the photovoltaic cleaning robot 100 during operation.

[0058] Please refer to the attached document. Figures 1-6In this embodiment, the multiple shock-absorbing wheel modules 23 include a first shock-absorbing wheel module 231 and multiple second shock-absorbing wheel modules 232; the first shock-absorbing wheel module 231 and multiple second shock-absorbing wheel modules 232 are arranged along the length of the support frame 22 and elastically act on different positions of the track 21; so that the first shock-absorbing wheel module 231 and multiple second shock-absorbing wheel modules 232 cooperate to elastically dampen different positions of the track 21, ensuring the overall damping effect of the track 21.

[0059] The first shock-absorbing wheel module 231 is disposed at the front or rear end of the support frame 22 and acts on the bending position of the track 21; so that the first shock-absorbing wheel module 231 provides elastic shock absorption at the bending position of the track 21. Multiple second shock-absorbing wheel modules 232 are disposed at the middle position of the support frame 22 and act on the bottom position of the track 21, providing elastic shock absorption at the bottom position of the track 21. Optionally, there are two first shock-absorbing wheel modules 231, respectively disposed at the front and rear ends of the support frame 22, and acting on the front and rear bending positions of the track 21.

[0060] Please refer to the attached document. Figures 5-6 In this embodiment, the first shock-absorbing wheel module 231 includes a first connecting frame 2311 and a plurality of first shock-absorbing wheels 2312. The first connecting frame 2311 is movably connected to the support frame 22 to adjust the position of the first connecting frame 2311 relative to the support frame 22. The plurality of first shock-absorbing wheels 2312 are rotatably connected to the first connecting frame 2311 and are located at different positions on the first connecting frame 2311, so that the plurality of first shock-absorbing wheels 2312 can be arranged at different positions relative to the track 21. The plurality of first shock-absorbing wheels 2312 continuously contact the track 21 as the first connecting frame 2311 moves relative to the support frame 22, so that the plurality of first shock-absorbing wheels 2312 can dampen the track 21 at different positions. When the track 21 bounces significantly during walking, the plurality of first shock-absorbing wheels 2312 abut against the bouncing force of the track 21 to reduce the bouncing amplitude of the track 21, thereby achieving shock absorption of the track 21.

[0061] The first connecting frame 2311 is provided with a first connecting part 23111, a first supporting part 23112 and a plurality of first rotating parts 23113; the first supporting part 23112 is located at one end of the first connecting frame 2311 and is located between the plurality of first rotating parts 23113; the first connecting part 23111 is rotatably connected to the supporting frame 22; so that the first connecting frame 2311 can move relative to the supporting frame 22 through the first connecting part 23111.

[0062] The first support portion 23112 is disposed on one side of the first connecting portion 23111 and is elastically movable relative to the support frame 22; there is an elastic force between the first support portion 23112 and the support frame 22; so that the first connecting frame 2311 can achieve elastic movement through the cooperation of the first support portion 23112 and the support frame 22, thereby facilitating the elastic movement of the first rotating portion 23113 with the elastic movement of the first support portion 23112.

[0063] Multiple first shock-absorbing wheels 2312 are rotatably connected to corresponding first rotating parts 23113. The multiple first rotating parts 23113 are arranged on both sides of the first connecting part 23111 to facilitate adjustment of the position of the multiple first shock-absorbing wheels 2312 relative to the corresponding first rotating parts 23113. This allows the multiple first shock-absorbing wheels 2312 to move elastically with the elastic movement of the first rotating parts 23113, so as to realize the multiple first shock-absorbing wheels 2312 to dampen the track 21 at different positions.

[0064] The support frame 22 is connected to a first connecting shaft 221; the first support part 23112 is connected to a second connecting shaft 231121. A first elastic module 233 is provided between the second connecting shaft 231121 and the first connecting shaft 221. The first elastic module 233 is connected to the first connecting shaft 221 and applies an elastic force to the second connecting shaft 231121, so that the second connecting shaft 231121 can move elastically relative to the first connecting shaft 221. The second connecting shaft 231121 compresses or releases the first elastic module 233 as the first connecting frame 2311 moves relative to the support frame 22, so that the elastic force of the first elastic module 233 is transmitted to the first connecting frame 2311 via the second connecting shaft 231121, thereby realizing the elastic movement of the first connecting frame 2311 relative to the support frame 22.

[0065] Please refer to the attached document. Figures 5-6 In this embodiment of the application, the first elastic module 233 includes a first connecting sleeve 2331 and a first elastic element 2332; the first connecting sleeve 2331 is rotatably connected to the first connecting shaft 221 and can rotate along the axis of the first connecting shaft 221; so as to adjust the position of the first connecting sleeve 2331 relative to the first connecting shaft 221, thereby facilitating the connection of the first elastic module 233 to the first connecting shaft 221 through the first connecting sleeve 2331.

[0066] The second connecting shaft 231121 is movably inserted through the first connecting sleeve 2331 to facilitate adjustment of the position of the second connecting shaft 231121 relative to the first connecting sleeve 2331. The first elastic member 2332 is sleeved on the first connecting sleeve 2331, and the two ends of the first elastic member 2332 elastically contact the peripheral sidewall of the second connecting shaft 231121 and the sidewall of the first connecting sleeve 2331, respectively, so that the first elastic member 2332 can apply an elastic force to the second connecting shaft 231121.

[0067] The first connecting sleeve 2331 is provided with a first elongated hole 2331a, which extends along the length of the first connecting sleeve 2331. The second connecting shaft 231121 is inserted into the first elongated hole 2331a and can move within the first elongated hole 2331a, so that the second connecting shaft 231121 can move relative to the first connecting sleeve 2331 through the space of the first elongated hole 2331a, thus ensuring the range of motion of the second connecting shaft 231121 relative to the first connecting sleeve 2331.

[0068] Each second shock absorber module 232 includes a second connecting frame 2321 and a second shock absorber 2322; the second connecting frame 2321 is provided with a second connecting part 23211, a second supporting part 23212 and a second rotating part 23213; the second connecting part 23211 is located between the second supporting part 23212 and the second rotating part 23213, and the second connecting part 23211 is rotatably connected to the supporting frame 22; so that the second connecting frame 2321 can move relative to the supporting frame 22 through the second connecting part 23211.

[0069] The second support portion 23212 is disposed on one side of the second connecting portion 23211 and is elastically movable relative to the support frame 22; there is an elastic force between the second support portion 23212 and the support frame 22; so that the second connecting frame 2321 can achieve elastic movement through the cooperation of the second support portion 23212 and the support frame 22, thereby facilitating the elastic movement of the second rotating portion 23213 with the elastic movement of the second support portion 23212.

[0070] The second shock absorber 2322 is rotatably connected to the corresponding second rotating part 23213 and engages with the bottom of the track 21, ensuring the tightness of the second shock absorber 2322 relative to the bottom of the track 21 and preventing the track 21 from loosening and disengaging from the drive wheel and multiple driven wheels 25.

[0071] Please refer to the attached document. Figures 5-6In this embodiment, the support frame 22 is connected to a third connecting shaft 222; the second support part 23212 is connected to a fourth connecting shaft 232121, and a second elastic module 234 is provided between the fourth connecting shaft 232121 and the third connecting shaft 222. The second elastic module 234 is connected to the third connecting shaft 222 and applies an elastic force to the fourth connecting shaft 232121 so that the fourth connecting shaft 232121 can move elastically relative to the third connecting shaft 222.

[0072] The fourth connecting shaft 232121 compresses or releases the second elastic module 234 as the second connecting frame 2321 moves relative to the support frame 22; so that the elastic force of the second elastic module 234 can be transmitted to the second connecting frame 2321 via the fourth connecting shaft 232121, so as to realize the elastic movement of the second connecting frame 2321 relative to the support frame 22.

[0073] The second elastic module 234 includes a second connecting sleeve 2341 and a second elastic element 2342; the second connecting sleeve 2341 is rotatably connected to the third connecting shaft 222 and can rotate along the axis of the third connecting shaft 222; so as to adjust the position of the second connecting sleeve 2341 relative to the third connecting shaft 222, thereby facilitating the connection of the second elastic module 234 to the third connecting shaft 222 through the second connecting sleeve 2341.

[0074] The fourth connecting shaft 232121 is movably inserted through the second connecting sleeve 2341 to facilitate adjustment of the position of the fourth connecting shaft 232121 relative to the second connecting sleeve 2341. The second elastic member 2342 is sleeved on the second connecting sleeve 2341, and the two ends of the second elastic member 2342 elastically contact the peripheral sidewall of the fourth connecting shaft 232121 and the sidewall of the second connecting sleeve 2341, respectively, so that the second elastic member 2342 applies an elastic force to the fourth connecting shaft 232121.

[0075] The second connecting sleeve 2341 is provided with a second elongated hole 2341a, which extends along the length of the second connecting sleeve 2341. The fourth connecting shaft 232121 is inserted into the second elongated hole 2341a and can move within the second elongated hole 2341a, so that the fourth connecting shaft 232121 can move relative to the second connecting sleeve 2341 through the space of the second elongated hole 2341a, thus ensuring the range of motion of the fourth connecting shaft 232121 relative to the second connecting sleeve 2341.

[0076] Please refer to the attached document. Figures 1-4The tracked walking assembly 20 also includes a drive wheel, multiple driven wheels 25, a motor 26, and a gear transmission module 27. The drive wheel and multiple driven wheels 25 are rotatably connected to the housing 11 and are located on the outside of the housing 11 to facilitate adjustment of the position of the drive wheel and multiple driven wheels 25 relative to the housing 11. The track 21 is fitted onto the drive wheel and multiple driven wheels 25 and is linked to the drive wheel and multiple driven wheels 25. The track 21 rotates in a ring as the drive wheel rotates and can walk on the surface of the photovoltaic module. The motor 26 and the gear transmission module 27 are both housed in the housing cavity 11a. The fixed end of the motor 26 is connected to the housing 11, and the output end of the motor 26 is connected to the gear transmission module 27. The drive wheel is connected to the gear transmission module 27 so that the power output by the motor 26 can be transmitted to the drive wheel through the gear transmission module 27, thereby facilitating the automatic rotation of the drive wheel to achieve the walking effect of the photovoltaic cleaning robot 100.

[0077] There are two tracked walking components 20, which are located on both sides of the housing 11 and drive the housing 11 to move, thus ensuring the walking stability of the photovoltaic cleaning robot 100.

[0078] Please refer to the attached document. Figures 1-2 7. In this embodiment of the application, the movable bracket 31 is swayably connected to the housing 11 and swings along the up and down direction; when the roller brush 33 contacts an object on the photovoltaic module, it will lift the movable bracket 31 upward; so that the roller brush 33 can drive the movable bracket 31 to move along the up and down direction due to the uneven surface of the photovoltaic module during the rolling process, avoiding the roller brush 33 from getting stuck on the surface of the photovoltaic module and ensuring the smooth rolling of the roller brush 33.

[0079] The housing 11 is provided with a first support arm 111; the movable bracket 31 is hinged to the housing 11 so that the movable bracket 31 can move along the axis of the connection between the movable bracket 31 and the housing 11, and the movable bracket 31 can move closer to or further away from the first support arm 111 so that the movable bracket 31 can connect to or disconnect from the first support arm 111, thereby facilitating the vertical movement of the movable bracket 31. The shock absorber 32 is connected to the first support arm 111 so that the shock absorber 32 is fixed to the first support arm 111, thereby facilitating the first support arm 111 to limit the position of the shock absorber 32. The first shock absorber arm 321 contacts the movable bracket 31 so that the first shock absorber arm 321 applies an elastic force to the movable bracket 31 to reduce the noise of the movable bracket 31 during the descent. By making full use of the elastic support of the first shock absorber arm 321 on the movable bracket 31, the descent speed of the movable bracket 31 is reduced, thereby reducing the noise of the movable bracket 31 during the descent. Optionally, the shock absorber 32 is a torsion spring, and the shock absorber 32 is sleeved on the first arm 111.

[0080] The shock absorber 32 is also provided with a second shock absorber arm 322, which is located on the other side of the first shock absorber arm 321. The second shock absorber arm 322 is connected to the first arm 111 so that the first arm 111 can restrict the position of the shock absorber 32 through the second shock absorber arm 322, thus ensuring the position of the shock absorber 32 relative to the first arm 111.

[0081] The first support arm 111 is provided with multiple through holes 111a, which are arranged circumferentially along the axial direction of the first support arm 111. Each through hole 111a can be inserted into the second shock-absorbing support arm 322, so that the second shock-absorbing support arm 322 can adjust the magnitude of the elastic force applied by the first shock-absorbing support arm 321 relative to the movable bracket 31 by inserting different through holes 111a, thereby improving the versatility of the shock absorber 32.

[0082] The housing 11 is also provided with a second support arm 112, which is located below the first support arm 111. One end of the movable bracket 31 is hinged to the second support arm 112 so that the second support arm 112 can further abut against the position of the movable bracket 31, ensuring the connection stability of the movable bracket 31 relative to the housing 11. The movable bracket 31 can be disengaged from the second support arm 112 so that the movable bracket 31 can move relative to the housing 11.

[0083] One end of the movable bracket 31 is provided with a groove 31a, which is adapted to the second support arm 112. The groove 31a has an opening for the second support arm 112 to pass through, so that the second support arm 112 can be accommodated in the groove 31a through the opening. This facilitates the movable bracket 31 to engage with the second support arm 112 through the groove 31a, and at the same time, the movable bracket 31 can be disengaged from the second support arm 112 through the opening.

[0084] Please refer to the attached document. Figures 1-2 In embodiment 8 of this application, the photovoltaic cleaning robot 100 further includes a suction cup assembly 40, which includes a mounting base 41, a lifting member 42, and a suction cup 43. The mounting base 41 is accommodated in the receiving cavity 11a and connected to the housing 11. The lifting member 42 is vertically connected to the mounting base 41 and moves up and down in the vertical direction to adjust the height position of the lifting member 42. The suction cup 43 is connected to the lower end of the lifting member 42 and exposed on the outside of the housing 11. The suction cup 43 moves closer to or further away from the lower side wall of the housing 11 as the lifting member 42 moves relative to the mounting base 41. The suction cup 43 is used to adsorb or detach from the surface of the photovoltaic module. When the suction cup 43 adsorbs the surface of the photovoltaic module, it ensures that the housing 11 is stationary relative to the photovoltaic module. When the suction cup 43 detaches from the surface of the photovoltaic module, it allows the housing 11 to move relative to the photovoltaic module.

[0085] Please refer to the attached document. Figures 1-29. The photovoltaic cleaning robot 100 also includes an air path assembly 50, which includes a pump body 51, a vacuum filter 52, and a pressure sensor 53. The pump body 51, vacuum filter 52, and pressure sensor 53 are all housed in the receiving cavity 11a, so that the pump body 51, vacuum filter 52, and pressure sensor 53 can make full use of the space of the receiving cavity 11a and avoid occupying the space of the outer wall of the housing 11. The pump body 51, vacuum filter 52, and suction cup 43 are connected in sequence to realize the adjustment of negative pressure or pressure relief of suction cup 43. The pressure sensor 53 is set between the pump body 51 and vacuum filter 52, which simplifies the air path between the pump body 51, vacuum filter 52, suction cup 43, and pressure sensor 53 and improves the air path adjustment efficiency of the photovoltaic cleaning robot 100.

[0086] A first air pipe 54 is provided between the pump body 51 and the vacuum filter 52. Both ends of the first air pipe 54 are connected to the pump body 51 and the vacuum filter 52 respectively, achieving a connection between them. The first air pipe 54 is connected to a first connector, which in turn connects to a pressure sensor 53. This allows the pressure sensor 53 to be positioned between the pump body 51 and the vacuum filter 52, and it is used to detect the air pressure coefficient of the first air pipe 54.

[0087] A second air pipe 55 is provided between the vacuum filter 52 and the suction cup 43, connecting the vacuum filter 52 and the suction cup 43. This ensures effective communication between the vacuum filter 52 and the suction cup 43. The vacuum filter 52 filters the gas flowing towards the suction cup 43 through the second air pipe 55, allowing impurities to be discharged towards the photovoltaic module via the suction cup 43. The suction end of the suction cup 43 is located at the bottom of the housing 11, allowing the suction cup 43 to adsorb the photovoltaic module from top to bottom.

[0088] The gas path assembly 50 also includes a first exhaust section 56, which is connected to a first gas pipe 54 via a third gas pipe 57. The first gas pipe 57 then connects to a vacuum filter 52 and a suction cup 43 in sequence. This allows the gas adsorbed by the suction cup 43 to flow sequentially through the first gas pipe 54 and the third gas pipe 57 to the first exhaust section 56, facilitating gas discharge. The third gas pipe 57 is connected to a first valve body, which controls the gas flow rate. The first valve body is a two-position three-way valve. When the two-position three-way valve is closed, the inlet and outlet are connected, preventing gas from flowing out through the outlet of the first valve body. Conversely, when the two-position three-way valve is open, the inlet and outlet are connected, allowing gas to flow from the inlet through the first valve body to the outlet.

[0089] The gas path assembly 50 also includes a second exhaust section 58, which is disposed on one side of the first exhaust section 56. The second exhaust section 58 is connected to the pump body 51 through a fourth air pipe 581, so that the second exhaust section 58 and the pump body 51 can be connected through the fourth air pipe 581, ensuring the communication effect between the second exhaust section 58 and the pump body 51, thereby facilitating the flow of gas from the pump body 51 to the second exhaust section 58 through the fourth air pipe 581. This allows the second exhaust section 58 to discharge gas from the pump body 51.

[0090] The gas path assembly 50 also includes a support member 59, which is housed in the receiving cavity 11a and connected to the housing 11. The support member 59 supports the pump body 51, the vacuum filter 52 and the pressure sensor 53, so that the housing 11 can support the pump body 51, the vacuum filter 52 and the pressure sensor 53 through the support member 59, thus ensuring the positional accuracy of the pump body 51, the vacuum filter 52 and the pressure sensor 53 relative to the housing 11.

[0091] The suction cup assembly 40 also includes a power component 44, which is connected to the lifting component 42 and drives the lifting component 42 to move up and down in the vertical direction, so that the lifting component 42 can achieve automatic lifting under the drive of the power component 44. The support component 59 has multiple support areas. The pump body 51 and the vacuum filter 52 are located in the same support area, and the power component 44 is located in another support area and installed on the support component 59, so that the pump body 51, the vacuum filter 52 and the power component 44 can make full use of the space of the support component 59 and avoid mutual interference between the pump body 51, the vacuum filter 52 and the power component 44.

[0092] The suction cup assembly 40 also includes a linkage module 45, which is located between the power component 44 and the lifting component 42. One end of the linkage module 45 is connected to the power end of the power component 44, and the other end of the linkage module 45 is connected to the lifting component 42, so that the power component 44 can drive the lifting component 42 to move up and down via the linkage module 45, thereby facilitating the adjustment of the height position of the lifting component 42.

[0093] Please refer to the attached document. Figures 1-2 In embodiments 10-11 of this application, the photovoltaic cleaning robot 100 further includes a water spraying assembly 60, which includes a connecting seat 61, a water inlet pipe 62, and a water spraying element 63. The connecting seat 61 is detachably connected to the housing 11 and can be quickly connected or disconnected from the housing 11 to improve the ease of installation of the water spraying assembly 60. The water inlet pipe 62 is connected to the connecting seat 61. The water spraying element 63 is located on one side of the roller brush 33 and is connected to the water inlet pipe 62 through a water pipe. The water spraying element 63 is used to spray water onto the roller brush 33 or the surface of the photovoltaic module, so that the water output from the water inlet pipe 62 can be sprayed onto the surface of the roller brush 33 or the photovoltaic module through the water spraying element 63, thereby facilitating the water spraying element 63 to rinse the surface of the roller brush 33 or the photovoltaic module.

[0094] Please refer to the attached document. Figures 1-2 In embodiments of this application, a diverter 64 is provided between the water inlet pipe 62 and the water spraying component 63. The diverter 64 connects the water inlet pipe 62 and the water spraying component 63. The water entering through the water inlet pipe 62 is diverted to the water spraying component 63 by the diverter 64 and sprayed out by the water spraying component 63. The diversion is based on the diverter 64 so that one water inlet pipe 62 can be compatible with multiple water spraying components 63, thereby realizing the spraying of multiple water spraying components 63, avoiding the use of multiple water inlet pipes 62, and preventing the water inlet pipe 62 of the water spraying assembly 60 from becoming tangled.

[0095] Please refer to the attached document. Figures 1-2 In embodiments 10-11 of this application, there are two roller brushes 33, which are arranged in front of and behind the robot body 10. The cleaning efficiency of the roller brushes 33 relative to the photovoltaic module is increased by arranging two roller brushes 33. There are two water sprayers 63, which are distributed on one side of the corresponding roller brushes 33. The diverter 64 connects the two water sprayers 63 and diverts water to the two water sprayers 63, so that one water inlet pipe 62 can be connected to the two water sprayers 63 through the diverter 64. This facilitates the water entering through one water inlet pipe 62 to be transported to the two water sprayers 63 under the diversion action of the diverter 64. Based on the diversion of the diverter 64, one water inlet pipe 62 can be compatible with two water sprayers 63, so as to realize the water spraying of the two water sprayers 63 and avoid the use of two water inlet pipes 62, thus preventing the water inlet pipes 62 of the water spraying assembly 60 from getting tangled.

[0096] The diverter 64 is arranged in a T-shape and has a first inlet end 641 and multiple diverter ends 642. The first inlet end 641 is connected to the inlet pipe 62 through a pipe so that the diverter 64 can be connected to the inlet pipe 62 through the first inlet end 641. The multiple diverter ends 642 are all connected to the drain end of the same first inlet end 641 and are arranged in different directions. The multiple diverter ends 642 are connected to the corresponding spray nozzles 63 through pipes so that the water entering from the inlet pipe 62 can flow through the first inlet end 641 to the multiple diverter ends 642, thereby facilitating the flow of water from the multiple diverter ends 642 to the corresponding spray nozzles 63 so that the corresponding spray nozzles 63 can spray water.

[0097] Multiple diversion ends 642 are located around the first water inlet end 641, and are arranged along the front-rear direction of the tank body 11 to divert water to the water spray elements 63 arranged along the front-rear direction of the tank body 11. Specifically, there are two diversion ends 642, which divert water to the water spray elements 63 on the front and rear sides of the tank body 11, so that the two water spray elements 63 can spray water on the front and rear sides of the tank body 11.

[0098] The water spraying component 63 is provided with multiple water spray heads 631, which are interconnected to allow multiple water spray heads 631 to spray water simultaneously. By arranging multiple water spray heads 631, the water spraying range of the water spraying component 63 relative to the photovoltaic module is increased.

[0099] The water spray assembly 60 also includes a protective cover 65, which is connected to the corresponding movable bracket 31 and is located above the roller brush 33; the water spray component 63 is installed on the corresponding protective cover 65 so that the protective cover 65 can prevent the sewage from the roller brush 33 from splashing onto the housing 11, thus ensuring the cleanliness of the housing 11.

[0100] Multiple water spray heads 631 are arranged along the length of the cover 65 so that the multiple water spray heads 631 can make full use of the length space of the cover 65, thereby facilitating the arrangement of the multiple water spray heads 631 relative to the length of the roller brush 33, and thus facilitating the multiple water spray heads 631 to spray water to different positions of the roller brush 33 along the length.

[0101] The water spray assembly 60 also includes a rotating seat 66, which is rotatably connected to the connecting seat 61 to facilitate adjustment of the rotational position of the rotating seat 66 relative to the connecting seat 61. The water inlet pipe 62 is connected to the rotating seat 66 so that the water inlet pipe 62 rotates with the rotation of the rotating seat 66, thereby facilitating the position adjustment of the water inlet pipe 62 and preventing the water inlet pipe 62 from getting tangled in the housing 11 during movement.

[0102] A bearing 67 is provided between the rotating seat 66 and the connecting seat 61. The bearing 67 is arranged in the vertical direction and is installed on the connecting seat 61. The rotating seat 66 is sleeved in the bearing 67 so that the rotating seat 66 can rotate relative to the connecting seat 61 through the bearing 67, thereby facilitating the rotation of the rotating seat 66 along the axial direction of the bearing 67.

[0103] Please refer to the attached document. Figures 1-2In embodiments 12-13 of this application, the photovoltaic cleaning robot 100 further includes a sensor module 70, which includes a sensor mounting base 71 and a sensor 72. The sensor mounting base 71 is detachably mounted on the housing 11, allowing the sensor mounting base 71 to connect to or detach from the housing 11, thereby facilitating the connection or detachment of the sensor module 70 through the sensor mounting base 71 and improving the ease of disassembly of the sensor module 70. The sensor mounting base 71 is provided with a through hole 71a, which connects to the external environment; the sensor... Sensor 72 is mounted on sensor mounting base 71. The sensing end of sensor 72 is exposed through through hole 71a and is used to detect photovoltaic modules located below housing 11. Sensor mounting base 71 is sealed to housing 11, ensuring a tight seal at the connection between sensor mounting base 71 and housing 11. A sealed area is formed between sensor mounting base 71 and housing 11, and sensor 72 is located within this sealed area. The sealed area prevents water from entering sensor 72, avoiding direct exposure of sensor 72 to the bottom of housing 11 and ensuring the sealing effect of photovoltaic cleaning robot 100. Optionally, sensor 72 can be an infrared sensor, ultrasonic sensor, detection sensor, TOF sensor, or optical flow sensor.

[0104] A sealing element 73 is provided between the sensor mounting base 71 and the housing 11. The sealing element 73 is sleeved on the sensor mounting base 71 and fits tightly against the housing 11, so that the sensor mounting base 71 can be sealed to the housing 11 through the sealing element 73. This allows the sealing element 73 to prevent water from entering the sealing area, and prevents water from entering the sensor 72 through the sealing area, thus avoiding the sensor 72 being directly exposed to the bottom of the housing 11 and ensuring the sealing effect of the photovoltaic cleaning robot 100.

[0105] In this embodiment, a sealing groove 71b is provided on the side wall of the bottom plate facing the housing 11 in the sensor mounting base 71. The sealing groove 71b is recessed from top to bottom by the sensor mounting base 71, with the groove opening facing upward. The sealing member 73 is sleeved in the sealing groove 71b so that the sealing member 73 is restricted by the inner side wall of the sealing groove 71b and squeezed by the sensor mounting base 71 and the bottom plate, ensuring the sealing effect at the connection between the sensor mounting base 71 and the housing 11, and preventing water from entering the sensor 72 in the sealed area. The sealing groove 71b is arranged in a ring shape, and the sealing member 73 is a sealing ring, sealing ring or sealing gasket, so that the sealing member 73 surrounds the sealing groove 71b, ensuring that the sealing member 73 seals the circumference of the connection between the sensor mounting base 71 and the housing 11.

[0106] The sensor mounting base 71 is provided with a mounting boss 711, which has a receiving groove 711a. The receiving groove 711a serves as the internal space of the mounting boss 711, and the sensor 72 is located in the receiving groove 711a so that the sensor 72 can be accommodated in the receiving groove 711a, thereby making full use of the space of the receiving groove 711a. At the same time, the sensor 72 is sealed to the mounting boss 711 so that the sensor 72 and the mounting boss 711 can be sealed. At this time, the space between the sensor 72 and the mounting boss 711 is filled with sealant, and the sensor 72 is fixed by the sealant.

[0107] The receiving tank 711a forms a receiving area for receiving the sensor 72. The receiving area is arranged at an interval from the sealing area. The receiving area is located inside the sealing area to prevent water from flowing through the sealing area to the receiving area, so that water cannot come into contact with the sensor 72 located in the receiving area, thereby preventing water from entering the sensor 72.

[0108] A via 71a is formed in the mounting boss 711 and connects to the receiving groove 711a so that the sensor 72 located in the receiving groove 711a extends to the via 71a; the sensor module 70 also includes a light-transmitting cover 74, which is mounted on the mounting boss 711 and covers the opening of the via 71a so that the opening of the via 71a is blocked by the light-transmitting cover 74; the light-transmitting cover 74 is used to allow light output from the sensing end of the sensor 72 to pass through, so that the light-transmitting cover 74 prevents water from contacting the sensor 72 through the hole 71a while allowing light output from the sensing end of the sensor 72 to pass through.

[0109] The light-transmitting cover 74 is sealed to the mounting boss 711, ensuring the sealing effect at the connection between the light-transmitting cover 74 and the mounting boss 711, preventing water from entering the sensor 72 through the hole 71a. Optionally, the light-transmitting cover 74 can be sealed to the mounting boss 711 with sealant. The light-transmitting cover 74 protects the sensing end of the sensor 72 in the vertical direction, so that the light-transmitting cover 74 can block external objects from directly impacting the sensor 72, thus ensuring the performance of the sensor 72.

[0110] The photovoltaic cleaning robot 100 also includes a camera module 80, which is arranged vertically and installed in the housing 11 and located behind the sensor module 70. The camera module 80 is used to photograph the photovoltaic modules located on the lower side of the housing 11 so that the camera module 80 can record the condition of the photovoltaic modules, thereby making it easier for users to understand the condition of the photovoltaic modules.

[0111] Compared with the prior art, the beneficial effects of this utility model are:

[0112] This utility model provides a photovoltaic cleaning robot 100. The robot body 10 is provided with a housing 11 and an electronic control module 12. The housing 11 has a receiving cavity 11a, in which the electronic control module 12 is housed and protected by the housing 11. The tracked walking assembly 20 includes a track 21, a support frame 22, and multiple shock-absorbing wheel modules 23. The track 21 is located on the outside of the housing 11 and can rotate cyclically relative to the housing 11 to walk on the surface of the photovoltaic module. The support frame 22 and the shock-absorbing wheel modules 23 are both built into the track 21. The support frame 22 is connected to the housing 11, and the shock-absorbing wheel modules 23 are located between the support frame 22 and the track 21 and act elastically on the track 21. The roller brush assembly 30 includes a movable bracket 31 and a shock absorber 32. The system includes a roller brush 33, which is rotatably connected to a movable support 31. The movable support 31 is movably connected to the housing 11 and can move up and down relative to the housing 11. A shock absorber 32 is disposed between the housing 11 and the movable support 31. The shock absorber 32 has a first shock absorber arm 321, which elastically contacts the movable support 31 and applies an elastic force to it. This allows the tracked walking assembly 20 and the roller brush assembly 30 to respectively absorb shocks from the track 21 and the roller brush 33 through multiple shock absorber wheel modules 23 and the shock absorber 32, thus achieving multiple shock absorption effects and preventing excessive shaking of the tracked walking assembly 20 and the roller brush assembly 30 during operation, thereby improving the shock absorption effect of the photovoltaic cleaning robot 100. Simultaneously, it reduces the noise of the photovoltaic cleaning robot 100 during operation.

[0113] In the above embodiments, the descriptions of each embodiment have different focuses. For parts not described in detail in a certain embodiment, please refer to the relevant descriptions of other embodiments.

[0114] In the description of this application, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, features defined with "first" and "second" may explicitly or implicitly include one or more features.

[0115] This document uses specific examples to illustrate the principles and implementation methods of this application. The descriptions of the above embodiments are only for the purpose of helping to understand the methods and core ideas of this application. At the same time, for those skilled in the art, there will be changes in the specific implementation methods and application scope based on the ideas of this application. Therefore, the content of this specification should not be construed as a limitation of this application.

Claims

1. A photovoltaic cleaning robot, characterized in that, The photovoltaic cleaning robot is used to clean photovoltaic modules and can walk on the surface of the photovoltaic modules; the photovoltaic cleaning robot includes: The robot body is equipped with a housing and an electronic control module. The housing has a receiving cavity, and the electronic control module is housed in the receiving cavity and protected by the external environment of the housing. The tracked walking assembly includes a track, a support frame, and multiple shock-absorbing wheel modules. The track is disposed on the outside of the housing and can rotate cyclically relative to the housing to walk on the surface of the photovoltaic module. The support frame and the shock-absorbing wheel modules are both built into the track. The support frame is connected to the housing, and the shock-absorbing wheel modules are disposed between the support frame and the track and elastically act on the track. A roller brush assembly includes a movable support, a shock absorber, and a roller brush; the roller brush is rotatably connected to the movable support; the movable support is movably connected to the housing and can move up and down relative to the housing; the shock absorber is disposed between the housing and the movable support, and the shock absorber has a first shock absorber arm, which elastically contacts the movable support and applies an elastic force to the movable support.

2. The photovoltaic cleaning robot according to claim 1, characterized in that, The plurality of shock-absorbing wheel modules include a first shock-absorbing wheel module and a plurality of second shock-absorbing wheel modules; The first shock-absorbing wheel module and a plurality of second shock-absorbing wheel modules are arranged along the length of the support frame and elastically act on different positions of the track; The first shock-absorbing wheel module is disposed at the front or rear end of the support frame and acts on the bending position of the track; Multiple second shock-absorbing wheel modules are disposed in the middle of the support frame and act on the bottom of the track.

3. The photovoltaic cleaning robot according to claim 2, characterized in that, The first shock-absorbing wheel module includes a first connecting frame and multiple first shock-absorbing wheels; The first connecting frame is movably connected to the support frame; a plurality of first shock-absorbing wheels are rotatably connected to the first connecting frame and are located at different positions on the first connecting frame; the plurality of first shock-absorbing wheels continuously contact the track as the first connecting frame moves relative to the support frame; The first connecting frame is provided with a first connecting part, a first supporting part and a plurality of first rotating parts; the first connecting part is rotatably connected to the supporting frame; the first supporting part is disposed on one side of the first connecting part and is elastically movable relative to the supporting frame; there is an elastic force between the first supporting part and the supporting frame; a plurality of first shock-absorbing wheels are rotatably connected to corresponding first rotating parts, and the plurality of first rotating parts are arranged on both sides of the first connecting part.

4. The photovoltaic cleaning robot according to claim 1, characterized in that, The movable support is swayably connected to the housing and swings in the vertical direction; the roller brush lifts the movable support upward when it contacts an object on the photovoltaic module. The housing is provided with a first support arm; the movable bracket is hinged to the housing and is close to or away from the first support arm; the shock absorber is connected to the first support arm, and the first shock absorber arm contacts the movable bracket; the shock absorber is a torsion spring, and the shock absorber is sleeved on the first support arm.

5. The photovoltaic cleaning robot according to claim 1, characterized in that, The photovoltaic cleaning robot also includes a suction cup assembly, which includes a mounting base, a lifting component, and a suction cup. The mounting base is housed in the receiving cavity and connected to the housing. The lifting component is vertically connected to the mounting base and moves up and down. The suction cup is connected to the lower end of the lifting component and is exposed on the outside of the housing. The suction cup moves closer to or further away from the lower side wall of the housing as the lifting component moves relative to the mounting base. The suction cup is used to adhere to or detach from the surface of the photovoltaic module.

6. The photovoltaic cleaning robot according to claim 1, characterized in that, The photovoltaic cleaning robot also includes a water spraying assembly, which includes a connecting seat, a water inlet pipe, and a water spraying component. The connecting seat is detachably connected to the housing and can be quickly connected or disconnected from the housing. The water inlet pipe is connected to the connecting seat. The water spraying component is located on one side of the roller brush and is connected to the water inlet pipe through a water pipe. The water spraying component is used to spray water onto the roller brush or the surface of the photovoltaic module.

7. The photovoltaic cleaning robot according to claim 6, characterized in that, A diverter is provided between the water inlet pipe and the water spray component; the diverter connects the water inlet pipe and the water spray component; The water entering through the inlet pipe is diverted to the spray nozzle by the diverting component and then sprayed out by the spray nozzle.

8. The photovoltaic cleaning robot according to claim 7, characterized in that, The robot body has two roller brushes, which are positioned at the front and rear of the robot body; it also has two water sprayers, which are distributed on one side of the corresponding roller brushes; and it has a diverter that connects the two water sprayers and diverts water to them. The diversion component is arranged in a T-shape, and the diversion component is provided with a first inlet end and multiple diversion ends; The first water inlet is connected to the water inlet pipe via a pipeline; the multiple branch ends are all connected to the drain end of the same first water inlet and are arranged in different directions, and the multiple branch ends are connected to the corresponding water spray components via pipelines.

9. The photovoltaic cleaning robot according to claim 1, characterized in that, The photovoltaic cleaning robot also includes a sensor module, which includes a sensor mounting base and a sensor. The sensor mounting base is detachably mounted on the housing and has a through hole that connects to the external environment. The sensor is mounted on the sensor mounting base, with its sensing end exposed through the through hole, and is used to detect photovoltaic modules located below the housing. The sensor mounting base is sealed to the housing, forming a sealed area between the sensor mounting base and the housing, and the sensor is located within the sealed area.

10. The photovoltaic cleaning robot according to claim 9, characterized in that, The sensor mounting base has a sealing groove on the side wall facing the bottom plate of the housing. A sealing element is provided between the sensor mounting base and the housing. The sealing element is fitted into the sealing groove and is squeezed by the sensor mounting base and the bottom plate. The sealing groove is arranged in a ring. The sealing element is a sealing ring, sealing ring or sealing gasket.

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