A photovoltaic cleaning robot

Abstract

The application provides a photovoltaic cleaning robot, which comprises a body, a first machine head and a second machine head arranged at two ends of the length direction of the body, and the second machine head fixedly supports the second end of the body; the lower side of the first machine head and the second machine head is correspondingly provided with a first walking wheel set and a second walking wheel set, and the first machine head and the second machine head are correspondingly provided with a first driving assembly and a second driving assembly, which are used for driving the first walking wheel set and the second walking wheel set to rotate respectively; meanwhile, a rotary supporting piece is arranged on the first machine head and used for supporting the first end of the body, so that the first end rotates relative to the first machine head with the rotary supporting piece when the running speed of the first walking wheel set and the second walking wheel set is different. The photovoltaic cleaning robot can be simultaneously applied to the cleaning scene of the photovoltaic array with plane dislocation, has high passability, wide application range, low operation and maintenance cost, and is beneficial to energy saving and cost reduction of enterprises.

Description

Technical Field

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

[0002] In recent years, with technological advancements, most photovoltaic (PV) power plants have opted to use PV cleaning robots to remove dust from PV arrays, thereby improving the power generation efficiency of PV modules. However, some early PV power plants did not consider using PV cleaning robots during initial construction, resulting in misalignment between adjacent PV arrays after the initial setup based on the terrain. When PV cleaning robots were subsequently introduced, the robots, due to the synchronous drive of their wheels along the length direction via a single motor and transmission rod, were prone to getting stuck on the anti-detachment mechanism of the bridge frame or having their wheels climb out of the PV modules when reaching the connection points between different PV arrays. This caused the robots to become stuck at the misalignment points between adjacent PV arrays, requiring manual unblocking before being moved to the next adjacent PV array. Alternatively, separate PV cleaning robots could be installed on different PV arrays with misalignment, resulting in weak maneuverability, limited applicability, and high maintenance costs. Therefore, inventing a PV cleaning robot with strong maneuverability suitable for cleaning PV arrays with misalignment will have a profound impact on the development of the PV cleaning equipment industry. Utility Model Content

[0003] The purpose of this application is to provide a photovoltaic cleaning robot that is applicable to cleaning scenarios with misaligned photovoltaic arrays, has strong passability, and a wide range of applications. It helps to reduce the operation and maintenance costs of the corresponding photovoltaic cleaning robot and promotes energy conservation and cost reduction for enterprises.

[0004] The technical solution provided in this application is as follows:

[0005] This application provides a photovoltaic cleaning robot, including:

[0006] The body has two ends along its length, namely the first end and the second end;

[0007] A first machine head and a second machine head are respectively located at both ends of the body along its length, wherein the second machine head is fixedly supporting the second end; a first set of wheels is provided on the lower side of the first machine head, and a second set of wheels is provided on the lower side of the second machine head;

[0008] The first drive assembly and the second drive assembly are respectively disposed on the first machine head and the second machine head, and are used to drive the corresponding first walking wheel set and the second walking wheel set to rotate respectively;

[0009] A rotating support is rotatably mounted on the first machine head and supports the first end, so that when the running speeds of the first traveling wheel set and the second traveling wheel set are different, the first end rotates relative to the first machine head with the rotating support.

[0010] This application provides a photovoltaic cleaning robot, which is equipped with a first drive component and a second drive component to drive the corresponding first and second walking wheel sets, respectively. This allows the travel speed at both ends of the photovoltaic cleaning robot to be adjusted independently. When the photovoltaic cleaning robot encounters an obstacle while moving along the photovoltaic array arrangement direction, the travel speed at both ends of the photovoltaic cleaning robot can be adjusted according to actual needs, thereby effectively improving its obstacle-crossing ability on the photovoltaic array. At the same time, the second end of the main body is fixedly supported on the second head, and a rotating support component supports the first end of the main body. When the photovoltaic cleaning robot moves to a plane misalignment such as height misalignment or front-back misalignment on adjacent photovoltaic arrays, under the separate driving action of the first and second drive components, the first head moves independently relative to the second head, and the main body moves synchronously with the second head. It also rotates relative to the first head around the rotation axis of the rotating support component according to the misalignment angle between the photovoltaic arrays. This allows for real-time adjustment of the photovoltaic cleaning robot's center of gravity and tilt posture, minimizing situations where the wheels become airborne due to changes in the overall center of gravity. This ensures the wheels remain on the surface of the corresponding photovoltaic modules, guaranteeing their operational power and effectively improving the robot's climbing and obstacle-crossing capabilities, as well as its mobility between adjacent photovoltaic arrays. Compared to conventional technologies, this photovoltaic cleaning robot is applicable to both cleaning scenarios of photovoltaic arrays on the same plane and those with misaligned planes, offering wider applicability and stronger mobility. Companies do not need to assign additional personnel to supervise the cleaning process, assist in unblocking the robot, or set up separate robots for photovoltaic arrays on different planes. This reduces labor requirements and the number of robots needed in a photovoltaic power station, effectively lowering costs for companies in photovoltaic cleaning and promoting cost reduction and efficiency improvement.

[0011] In some embodiments, the rotating support includes a support body and a collar, the collar being fixed to one end of the support body;

[0012] A fixed seat is formed on the side of the first machine head facing the second machine head; a collar is coaxially slidably sleeved on the outer periphery of the fixed seat and is detachably rotatably connected to the fixed seat about its own central axis.

[0013] The end of the support body furthest from the collar is connected to the first end.

[0014] This application provides a photovoltaic cleaning robot that uses the coaxial rotation of a collar and a fixed base to achieve the rotational installation of a rotating support relative to the first machine head. The connection structure between the rotating support and the first machine head is simple, easy to produce and assemble, effectively reducing the difficulty of rotating the robot body relative to the first machine head, and helping enterprises save energy and reduce costs.

[0015] In some embodiments, a bushing is also included, which is coaxially fitted between the fixed base and the collar.

[0016] This application provides a photovoltaic cleaning robot. The bushing reduces friction between the collar and the fixed base, increasing lubrication and ensuring smooth rotation of the robot body relative to the first head. This further ensures the robot's ability to pass through photovoltaic arrays with planar misalignment. Furthermore, the bushing simultaneously seals the gap between the collar and the fixed base, enhancing the waterproof and dustproof performance of the corresponding parts. This allows the photovoltaic cleaning robot to withstand long-term exposure to outdoor environments and helps extend its service life.

[0017] In some embodiments, a pressure plate is also included, which is detachably connected to the end of the fixed base away from the first machine head;

[0018] The end of the collar facing away from the first machine head rotates to abut against the pressure plate.

[0019] This application provides a photovoltaic cleaning robot, in which a pressure plate is used to prevent the collar from detaching from the end of the fixed seat away from the first head, thereby improving the assembly stability of the rotating support and the first head.

[0020] In some embodiments, a raised ring is formed around the fixing base on the side of the first machine head facing the second machine head;

[0021] The end of the collar that is away from the pressure plate rotates to abut against the convex ring.

[0022] This application provides a photovoltaic cleaning robot in which a convex ring is used to separate the first head and the rotating support component. After actual assembly, the end of the rotating support component near the first head abuts against the convex ring. The convex ring and the pressure plate together restrict the rotational friction of the rotating support component against the first head, thereby reducing the contact area between the rotating support component and the first head. This reduces the probability of relative friction or even jamming caused by the swaying of the rotating support component relative to the first head during operation, which helps to ensure the functional stability of the photovoltaic cleaning robot and further ensures the smooth rotation of the robot body relative to the first head.

[0023] In some embodiments, the support body includes a support portion, and the support portion has opposing first support ears formed at both ends along the width direction of the body.

[0024] The first support ear is a C-shaped tubular structure with openings facing each other, and extends along the length of the body toward the second head side;

[0025] The first support ear is detachably and fixedly connected to the first end.

[0026] The photovoltaic cleaning robot provided in this application has a first support ear set as a C-shaped tubular structure. While ensuring the structural strength of the rotating support, it is conducive to reducing the weight of the rotating support, thereby effectively promoting the development of the photovoltaic cleaning robot towards lightweight design. This, in turn, effectively improves its overall performance such as operational flexibility and deployment convenience, and helps enterprises to further reduce costs and increase efficiency.

[0027] In some embodiments, the support portion further includes a support plate and connects to two of the first support ears;

[0028] The support plate has an integrally formed reinforcing frame on the side facing the second machine head, and the reinforcing frame has a hollow frame structure.

[0029] This application provides a photovoltaic cleaning robot that uses an integrally formed support plate on the support part to connect two first support ears, effectively improving the ease of deployment of the first support ears. At the same time, the support part is set as a hollow frame structure, and a reinforcing frame with a hollow structure connects the support plate and the support part from the inner cavity of the support part. While ensuring the structural strength of the support part, it helps to promote the development of the rotating support component towards lightweight and miniaturization.

[0030] In some embodiments, the support body further includes a connecting portion that connects the support portion and the collar;

[0031] The connecting part includes two ribs, which are arranged in parallel and spaced apart. One end of the ribs is tangent to the outer circumference of the collar, and the other end is fixedly connected to the lower end face of the support part.

[0032] Multiple arc-shaped plates are arranged parallel to each other between the two ribs. Each arc-shaped plate is set to be concentric with the collar, and the two ends of each arc-shaped plate are respectively connected to the two corresponding ribs, so that a limiting groove is formed between any two adjacent arc-shaped plates and the two ribs.

[0033] In some embodiments, the rotating support further includes a limiting rod that extends through the limiting groove along the length of the body and is detachably and fixedly connected to the first machine head;

[0034] When the rotating support rotates relative to the first machine head, the limiting rod slides within the limiting groove.

[0035] This application provides a photovoltaic cleaning robot that utilizes two parallel, spaced ribs to form a connection between the support and the collar, securing the support and collar together and ensuring a stable connection while further reducing the overall weight of the rotating support component. Simultaneously, multiple arc-shaped plates, together with the two ribs, form a limiting groove. The sliding contact between a limiting rod and the inner wall of the limiting groove restricts the rotation angle of the rotating support component relative to the first head, effectively preventing damage to the photovoltaic modules due to excessive rotation angle. This extends the service life of both the photovoltaic modules and the cleaning robot itself. Furthermore, the angle-limiting structure is simple, easy to deploy, and further implements the lightweight design principle of the rotating support component, contributing to energy conservation and cost reduction for enterprises and further improving the overall performance of the photovoltaic cleaning robot.

[0036] In some embodiments, an abutment block is formed on the side of the first machine head facing the second machine head, and the abutment block is located above the central axis of the fixed base;

[0037] The limiting rod passes through the limiting groove and is then screwed into the abutting block;

[0038] The end of the abutment block away from the first machine head slides and abuts against the end face of the arc-shaped plate near the first machine head.

[0039] This application provides a photovoltaic cleaning robot with a limiting rod that passes through a limiting groove and then screws into an abutment block. On the one hand, the abutment block provides local reinforcement to the first head, which helps to improve the stability of the limiting rod between the first head and the rotating support. On the other hand, due to the sliding cooperation between the limiting rod and the inner wall of the limiting groove, the limiting rod effectively supports the rotating support by supporting the upper arc plate, which helps to reduce the probability of bending and deformation of the rotating support under stress, thereby further extending the service life of the rotating support and the photovoltaic cleaning robot.

[0040] Compared with existing technologies, the photovoltaic cleaning robot provided in this application has the following advantages:

[0041] This application enables independent control of the travel speed at both ends of the photovoltaic cleaning robot's length direction. The first end of the robot is supported on a rotating support connected to the first head. If the robot encounters obstacles during operation, such as when it reaches a misaligned area on the photovoltaic array (e.g., height or forward / backward misalignment), the travel speed at both ends along its length direction can be adjusted as needed to control the power of the first and second ends separately, thus improving its climbing and obstacle-crossing capabilities. Simultaneously, because the first end of the robot moves synchronously with the second head, the rotating support rotates relative to the first head, adjusting the robot's center of gravity and attitude angle in real time. This minimizes the risk of the corresponding wheels becoming airborne or getting stuck on the bridge, ensuring sufficient power for both the first and second wheel sets. This effectively improves the robot's mobility between adjacent photovoltaic arrays, allowing it to be used in cleaning scenarios with misaligned photovoltaic arrays, thus expanding its applicability and helping companies reduce maintenance costs and improve efficiency. Attached Figure Description

[0042] The preferred embodiments will now be described in a clear and easy-to-understand manner, with reference to the accompanying drawings, to further explain the above-mentioned characteristics, technical features, advantages, and implementation methods of this solution.

[0043] Figure 1 This is an isometric schematic diagram of the main embodiment of the photovoltaic cleaning robot in this application;

[0044] Figure 2 This is an isometric schematic diagram of the main structural form of the first machine head in the embodiments of this application;

[0045] Figure 3 This is an isometric schematic diagram of the assembly form of the first machine head and the rotating support component, which is the main embodiment of this application.

[0046] Figure 4 This is an exploded view of the main bushing installation position in the embodiments of this application;

[0047] Figure 5 This is an isometric schematic diagram of the main structural form of the rotating support component in the embodiments of this application;

[0048] Figure 6 This is an isometric schematic diagram illustrating the main location of the second support ear in the embodiments of this application;

[0049] Figure 7 yes Figure 6 The enlarged view at point A in the middle is mainly used to show the installation position of the limit bolt on the first machine head.

[0050] Explanation of reference numerals in the attached figures:

[0051] 1. Main body; 11. Support beam; 111. First end; 112. Second end; 12. Photovoltaic module; 2. First head; 21. First wheel assembly; 211. First wheel; 22. Fixed base; 23. Mounting groove; 24. Protruding ring; 25. Abutment block; 3. Second head; 31. Second wheel assembly; 311. Second wheel; 32. Second support ear; 4. First drive assembly; 5. Second drive assembly; 6. Rotating support component; 6 1. Support body; 611. Support part; 6111. First support ear; 612. Support plate; 613. Reinforcing frame; 62. Collar; 621. Bushing; 63. Pressure plate; 631. Mounting hole; 64. Connecting part; 641. Rib plate; 642. Arc plate; 643. Limiting groove; 644. Support plate; 65. Limiting rod; 7. Guide wheel; 8. Cleaning assembly; 9. Anti-detachment structure; 91. First anti-detachment structure; 92. Second anti-detachment structure. Detailed Implementation

[0052] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the specific implementation methods of this application will be described below with reference to the accompanying drawings. Obviously, the accompanying drawings described below are only some embodiments of this application. For those skilled in the art, other drawings and other implementation methods can be obtained based on these drawings without creative effort.

[0053] To keep the drawings concise, each drawing only schematically shows the parts relevant to this application, and they do not represent the actual structure of the product. Furthermore, for ease of understanding, in some drawings, only one of the components with the same structure or function is schematically shown, or only one is labeled. In this document, "one" not only means "only one," but can also mean "more than one."

[0054] In the photovoltaic power generation field, most early photovoltaic power plants were built according to the terrain, resulting in misalignment between adjacent photovoltaic arrays. In recent years, to improve the cleaning efficiency of photovoltaics, most early photovoltaic power plants have introduced photovoltaic cleaning robots to automatically remove dust from the surface of photovoltaic modules, thereby improving the power generation efficiency of photovoltaic modules. However, this has led to a situation where the photovoltaic cleaning robots are prone to getting stuck and have poor maneuverability when running between photovoltaic arrays with misalignment. Consequently, the investment cost for enterprises in photovoltaic cleaning scenarios is relatively high, which is an area that needs improvement.

[0055] In one embodiment, reference is made to the accompanying drawings. Figures 1 to 7A photovoltaic cleaning robot is provided, including a body 1 and a first head 2 and a second head 3 respectively disposed at both ends of the body 1 along its length. In this embodiment, for the sake of clarifying the technical principle, the two ends of the body 1 along its length are defined as a first end 111 and a second end 112. For the first end 111 of the body 1, the first head 2 is provided with a first walking wheel set 21 and a first drive component 4. Specifically, the first walking wheel set 21 is located at a lower position of the first head 2, and the first drive component 4 is used to drive the first walking wheel set 21 to rotate. Similarly, for the second end 112 of the body 1, the second head 3 is provided with a second walking wheel set 31 and a second drive component 5. The second walking wheel set 31 is located at a lower position of the second head 3, and the second drive component 5 is used to drive the second walking wheel set 31 to rotate. That is, in this embodiment of the photovoltaic cleaning robot, the first walking wheel set 21 is driven independently relative to the second walking wheel set 31, and the first head 2 and the second head 3 of the body are controlled independently.

[0056] In addition, the photovoltaic cleaning robot of this embodiment also includes a rotating support 6, which is rotatably mounted on the first head 2. The first end 111 of the main body 1 is detachably supported on the rotating support 6, and the second end 112 is fixedly supported on the second head 3. When the photovoltaic cleaning robot runs between adjacent photovoltaic arrays with height, front and back misalignment, it not only adjusts the running speed of the first walking wheel set 21 and the second walking wheel set 31, but also makes the first end 111 of the main body 1 rotate relative to the first head 2 with the rotating support 6, thereby quickly adjusting the photovoltaic cleaning robot. The robot's center of gravity position and posture angle are adjusted to minimize situations such as the corresponding wheels of the first and / or second walking wheel sets 21 becoming airborne or getting stuck on the bridge, thus maintaining the running power of the first and second walking wheel sets 21 and 31 at all times. This enhances the photovoltaic cleaning robot's ability to climb slopes and overcome obstacles, thereby ensuring its passage between adjacent photovoltaic arrays. In this way, enterprises can reduce the number of photovoltaic cleaning robots deployed in photovoltaic power plants and the corresponding number of maintenance personnel, thereby significantly reducing the operation and maintenance costs of photovoltaic cleaning robots and helping enterprises reduce costs and increase efficiency.

[0057] In one embodiment, based on the above embodiments, specifically referring to... Figure 1In this embodiment, the main body 1 is generally rectangular plate-shaped; the first walking wheel set 21 preferably includes two first walking wheels 211, which are respectively disposed at both ends of the first head 2 along the width direction of the main body 1, and located on the side of the first head 2 facing the second head 3; similarly, the second walking wheel set 31 preferably includes two second walking wheels 311, which are respectively disposed at both ends of the second head 3 along the width direction of the main body 1, and located on the side of the second head 3 facing the first head 2. Furthermore, in order to improve the overall performance of the photovoltaic cleaning robot, in this embodiment, the first head 2, the second head 3, and other structures are preferably made of lightweight, inexpensive aluminum material with corrosion resistance and good thermal conductivity; that is, in this embodiment, the first head 2 and the second head 3 are preferably both made of aluminum.

[0058] At the same time, refer to Figure 2 and Figure 3 A fixing seat 22 is also formed on the side of the first machine head 2 facing the second machine head 3, and the fixing seat 22 is located in the middle of the two first traveling wheels 211.

[0059] Reference Figure 2 and Figure 3 In this embodiment, the rotating support 6 includes a support body 61 and a collar 62. The support body 61 is used for detachably and fixedly connecting to the first end 111, and the collar 62 is fixedly disposed at the end of the support body 61 away from the first end 111. During assembly, refer to... Figure 4 The collar 62 is coaxially slidably sleeved on the outer periphery of the fixed seat 22 along the length direction of the body 1, and is detachably rotatably connected to the fixed seat 22 around its own central axis. When the first end 111 is fixedly connected to the support body 61 and the cleaning robot encounters an angle misalignment of the connecting bridge during operation, by adjusting the running speed of the first walking wheel set 21 and the second walking wheel set 31, the first end 111 can rotate with the rotating support 6 around the central axis of the rotating support 6 relative to the first machine head 2, thereby enabling the cleaning robot to smoothly pass through the angle misalignment of the connecting bridge.

[0060] Furthermore, in this embodiment, reference is made to... Figures 2 to 4 The first head 2 is recessed inward at the middle position along the width direction of the body 1 and forms a mounting groove 23. The fixed seat 22 is formed in the mounting groove 23, which not only leaves a certain rotation space for the cleaning component 8, but also improves the integration of the rotating support 6 after it is assembled into the first head 2, and promotes its miniaturization.

[0061] Reference Figure 4To ensure smooth rotation of the first end 111 relative to the first head 2, in this embodiment, a bushing 621 is preferably coaxially fitted on the fixed base 22. After the rotating support 6 is assembled to the first head 2, the bushing 621 is coaxially embedded between the fixed base 22 and the collar 62. This increases the lubrication between the collar 62 and the fixed base 22 and effectively seals the gap between them, significantly extending the service life of the photovoltaic cleaning robot in outdoor environments. In this embodiment, the bushing 621 is preferably a polymer bushing.

[0062] In other embodiments, a bearing housing structure can be used instead of the fixed seat 22. In this case, the bearing housing structure is integrally mounted on the first machine head 2, with the inner ring of the bearing housing corresponding to the rotating shaft of the cleaning component 8. The collar 62 is coaxially fixedly fitted onto the outer ring of the bearing housing. In practical applications, the collar 62 rotates with the outer ring of the bearing housing relative to the inner ring of the bearing housing, thereby realizing the rotational setting of the rotating support 6 relative to the first machine head 2. Of course, the bearing housing can also be directly coaxially fixedly fitted onto the fixed seat 22, that is, the inner ring of the bearing housing is fixedly connected to the outer circumferential surface of the fixed seat 22, and then the collar 62 is coaxially fixedly fitted onto the outer ring of the bearing housing. In the embodiments of this application, there are no specific restrictions on the rotational connection method of the collar 62 on the first machine head 2.

[0063] Reference Figure 3 and Figure 4 A pressure plate 63 can also be detachably installed on the fixed base 22. The pressure plate 63 is located at the end of the fixed base 22 away from the first machine head 2, and its thickness direction is parallel to the central axis direction of the fixed base 22. That is, when the end face of the fixed base 22 facing the second machine head 3 is perpendicular to the length direction of the body 1, the pressure plate 63 is connected to the end of the fixed base 22 away from the first machine head 2. In specific assembly, after the collar 62 is coaxially sleeved on the bushing 621, the pressure plate 63 is fixedly abutted against the end of the fixed base 22 facing the second machine head 3. This can stably restrict the collar 62 along the length direction of the body 1 between the first machine head 2 and the pressure plate 63, so as to realize the stable and detachable assembly of the rotating support 6 on the first machine head 2.

[0064] In the embodiments of this application, reference is made to Figure 3 and Figure 4 The pressure plate 63 is generally circular in shape, with multiple through holes extending along its thickness. These through holes are arranged in a circular array around the central axis of the pressure plate 63. Correspondingly, the fixing seat 22 has multiple connecting grooves evenly spaced around its central axis. During assembly, a locking element is fitted at any through hole of the pressure plate 63, such as a locking bolt. The threaded end of the locking bolt passes through the corresponding through hole along the axial direction of the fixing seat 22 and is tightened into the corresponding connecting groove until its nut end abuts against the end face of the pressure plate 63 away from the fixing seat 22. This allows for coaxial and detachable installation of the pressure plate 63 and the fixing seat 22. Furthermore, referring to... Figure 3 In this embodiment, the radial dimension of the pressure plate 63 is larger than the inner diameter of the collar 62. After assembly, the pressure plate 63 covers the gap between the collar 62 and the bushing 621, and the end of the collar 62 away from the first machine head 2 coaxially abuts against the pressure plate 63, so as to further seal the gap between the collar 62 and the fixed seat 22 by using the pressure plate 63, and effectively prevent the rotating support 6 from falling off the fixed seat 22 along the length direction of the body 1. In addition, the pressure plate 63 has a mounting hole 631 through its central axis for the rotating shaft of the cleaning assembly 8 to pass through.

[0065] Meanwhile, to ensure smooth rotation of the rotating support 6 between the first machine head 2 and the pressure plate 63, in this embodiment, refer to Figure 2 The first head 2 is also provided with a protruding ring 24. Specifically, the protruding ring 24 is integrally formed on the side of the first head 2 facing the second head 3 and is arranged around the fixed base 22. After assembly, the two ends of the collar 62 rotate and abut against the corresponding protruding ring 24 and the corresponding pressure plate 63 respectively, so as to use the protruding ring 24 to separate the first head 2 and the end of the rotating support 6 away from the second head 3, so as to prevent the body 1 from pushing the rotating support 6 to shake relative to the first head 2 along the length direction of the body 1 and causing friction, or even mutual damage and jamming, during the rotation of the body 1 relative to the first head 2 with the rotating support 6. This improves the stability of the structure and function of the photovoltaic cleaning robot.

[0066] Furthermore, in this embodiment, for the supporting body 61, refer to Figure 3 and Figure 5 It includes a support portion 611 with a hollow frame structure. To effectively support the first end 111, the support portion 611 has first support ears 6111 formed at both ends along the width direction of the body 1. Both first support ears 6111 are C-shaped tubular structures with their openings facing each other. Furthermore, both of them extend along the length direction of the body 1 towards the second head 3. (Refer to...) Figure 1The main body 1 of the photovoltaic cleaning robot includes two parallel and oppositely arranged support beams 11 and a photovoltaic module 12 mounted on them. In this embodiment, the two support beams 11 are preferably C-shaped tubular structures with openings facing each other. During actual assembly, it is preferable to slide one end of the support beam 11 of the main body 1 onto the first support ear 6111 coaxially, or slide it into the first support ear 6111 coaxially, thereby realizing the installation of the support beam 11 on the rotating support member 6. In the embodiments of this application, the fasteners are preferably set as fastening bolts, pins, etc. Of course, other conventional fastening structures that can achieve the same function are also possible, and will not be described in detail here. At the same time, the connection form between the first support ear 6111 and the first support beam 11 is not limited to this. They can also be detachably connected by snap-fit, locking, or other forms. The embodiments of this application do not limit this, and of course, it should not be regarded as a specific limitation on the scope of protection of this application.

[0067] Furthermore, in this embodiment, the support part 611 also includes a support plate 612. Specifically, the support plate 612 is integrally formed on the side of the support part 611 away from the second machine head 3 and is arranged perpendicular to the length direction of the body 1. Two first support ears 6111 are integrally formed and connected to the support plate 612 and are located on the side of the support plate 612 facing the second machine head 3.

[0068] In addition, to further enhance the structural strength of the supporting body 61, in this embodiment, a reinforcing frame 613 is integrally formed on the side of the supporting part 611 facing the second machine head 3. To further implement the principle of lightweight design of the rotating support 6, in this embodiment, the reinforcing frame 613 preferably has a hollow frame structure, for example, referring to... Figure 3 The reinforcing frame 613 includes two sets of reinforcing ribs arranged vertically in an array along the width and height directions of the main body 1, respectively. Each set of reinforcing ribs is connected to the inner wall of the support portion 611. Furthermore, the reinforcing ribs arranged in different directions intersect and are integrally formed to further enhance the structural strength of the support body 61. Of course, the reinforcing frame 613 can also be configured with other hollow structures, but since these are all prior art, they will not be specifically described here.

[0069] Furthermore, in this embodiment, referring to Figure 5 The support body 61 also includes a connecting part 64 for connecting the support part 611 and the collar 62. Specifically, the connecting part 64 includes two parallel and spaced ribs 641. In this embodiment, it is preferable that both ribs 641 are arranged along the height direction of the photovoltaic cleaning robot. One end of the connecting collar 62 is preferably tangent to the outer circular surface of the collar 62 and integrally formed, while the end of the connecting support part 611 is preferably integrally formed on the lower end surface of the support part 611 and collinear with the corresponding reinforcing rib plate arranged along the height direction of the photovoltaic cleaning robot.

[0070] At the same time, refer to Figures 3 to 5 Multiple arc-shaped plates 642 are arranged parallel to each other between the two rib plates 641. Each arc-shaped plate 642 is concentric with the collar 62, and the two ends of each arc-shaped plate are connected to the corresponding rib plate 641, so as to form a limiting groove 643 between any two arc-shaped plates 642 and the two rib plates 641.

[0071] In addition, refer to Figure 3 and Figure 4 The rotating support 6 also includes a limiting rod 65, which passes through the limiting groove 643 along the length of the body 1 and is detachably and fixedly connected to the first head 2. In practical applications, when the rotating support 6 drives the first end 111 of the body 1 to rotate relative to the first head 2, the limiting rod 65 slides on the inner wall of the limiting groove 643. When the rotating support 6 rotates relative to the first head 2 to the two extreme positions where it can no longer rotate, the outer circumferential surface of the limiting rod 65 abuts against the corresponding rib plate 641. In this way, the rotation angle of the body 1 relative to the first head 2 can be limited, effectively avoiding the probability of damaging the photovoltaic module due to the excessive rotation angle of the body 1 relative to the first head 2, thereby effectively improving the safety of the photovoltaic cleaning robot.

[0072] As a preferred option, refer to Figures 5 to 7 To enable the same rotating support 6 to be used with different models of photovoltaic cleaning robots, in this embodiment, multiple arc-shaped plates 642 are arranged parallel to each other along the height direction of the photovoltaic cleaning robot, and the distance between adjacent arc-shaped plates 642 is different. The limiting groove 643 is formed between any two adjacent arc-shaped plates 642, so that the setting position and width of the limiting groove 643 along the height direction of the photovoltaic cleaning robot can be adjusted, thereby enabling the same rotating support 6 to be adapted to the first machine head 2 with different models of limiting rods 65 or different setting positions of the limiting rods 65.

[0073] In addition, in this embodiment, the limiting rod 65 is preferably set as a limiting bolt; during assembly, the threaded end of the limiting bolt passes through the limiting groove 643 along the length direction of the body 1 and is screwed into the first machine head 2. At the same time, in this embodiment, it is preferable that after the limiting bolt is screwed into the first machine head 2, its nut end abuts against the end of the two arc-shaped plates 642 near the second machine head 3, so as to use the nut end of the limiting bolt to restrict the rotating support 6 from swinging towards the second machine head 3 along the length direction of the body 1.

[0074] In this embodiment, the limiting bolt is preferably a semi-threaded bolt, so that the smooth part of the semi-threaded bolt supports the upper arc plate 642 corresponding to the limiting groove 643, thereby achieving effective support for the rotating support 6 from bottom to top, further reducing the probability of ballast deformation of the rotating support 6, and thus extending the service life of the rotating support 6 and the photovoltaic cleaning robot.

[0075] Reference Figure 5 In order to minimize the ballast deformation and fatigue fracture probability of the connecting part 64, in this embodiment, the connecting part 64 preferably further includes a support plate 644. The support plate 644 corresponds one-to-one with the two ribs 641. The support plate 644 is inclined relative to the two ribs 641, and its two ends are respectively connected to the lower end face of the corresponding side of the corresponding rib 641 and the support part 611, forming a stable triangular support structure with the corresponding rib 641 and the support part 611.

[0076] It is worth noting that in this embodiment, the limiting rod 65 is preferably set on the first machine head 2 above the central axis of the fixed base 22, so as to ensure that the first end 111 of the body 1 is centered relative to the first machine head 2 in the initial state when there is no rotation.

[0077] In this embodiment, the first machine head 2 has an integrally formed abutment block 25 on the side facing the second machine head 3. (Refer to 2 and...) Figure 4 An abutment block 25 is provided on the first machine head 2 corresponding to the limiting rod 65. The abutment block 25 is located on the first machine head 2 above the central axis of the fixed base 22, and protrudes from the side of the first machine head 2 facing the second machine head, and is integrally formed with the first machine head 2. After the limiting rod 65 passes through the limiting slide groove 643, it is screwed into the abutment block 25. In actual application, during the rotation of the rotating support member 6 relative to the first machine head 2, the end of the abutment block 25 away from the first machine head 2 slides and abuts against the end face of the arc plate 642 close to the first machine head 2. In this embodiment, the setting of the abutment block 25, in addition to maintaining the first machine head 2 and the rotating support 6 at a preset distance and restricting the rotating support 6 from swinging relative to the first machine head 2 along the length direction of the body 1, can also effectively shorten the distance between the limiting rod 65 and the rotating support 6 to ensure the bending resistance of the limiting rod 65, thereby improving the effectiveness of the limiting rod 65 in restricting the rotation angle of the rotating support 6 relative to the first machine head 2, and can also locally enhance the stress bearing capacity of the first machine head 2.

[0078] Regarding the second end of body 1, in this embodiment, refer to Figure 6 and Figure 7A second support ear 32 is provided at the end of the second head 3 facing the first head 2. The connection method between the second end 112 of the main body 1 and the second support ear 32 is the same as the connection method between the first end 111 of the main body 1 and the first support ear 6111. Furthermore, the second support ear 32 is integrally formed on the end face of the second head 3 facing the first head 2 via a support rib, or the end of the second support ear 32 away from the first head 2 can be detachably installed on the end face of the second head 3 facing the first head 2 via a fixing plate or other structure. In this embodiment, the assembly form of the second support ear 32 on the second head 3 should not be considered a specific limitation on the scope of protection of this application. The rotating shaft of the cleaning component 8 is rotatably mounted on the second head 3 at the end corresponding to the second end 112 of the main body 1.

[0079] In addition, refer to Figure 1 and Figure 6 Guide wheels 7 and corresponding anti-detachment structures 9 are installed on the lower side of the first head 2 and the second head 3. For example, a first anti-detachment structure 91 is installed on the lower side of the first head 2, and a second anti-detachment structure 92 is also installed on the lower side of the first head 2. The first anti-detachment structure 91 and the second anti-detachment structure 92 are arranged opposite to each other along the length direction of the body 1. With the help of the first anti-detachment structure 91 and the second anti-detachment structure 92 and the guide wheels 7, the photovoltaic cleaning robot can be stably set on the photovoltaic array, avoiding the situation where the photovoltaic cleaning robot falls off the photovoltaic array due to factors such as strong winds. This further improves the safety and operational stability of its use, and thus stably ensures its passability, climbing and obstacle crossing performance on the photovoltaic array.

[0080] It should be noted that the above embodiments can be freely combined as needed. The above description is only a preferred embodiment of this application. 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 application, and these improvements and modifications should also be considered within the protection scope of this application.

Claims

1. A photovoltaic cleaning robot, characterized in that, include: The body has two ends along its length, namely the first end and the second end; A first machine head and a second machine head are respectively located at both ends of the body along its length, wherein the second machine head is fixedly supporting the second end; a first set of wheels is provided on the lower side of the first machine head, and a second set of wheels is provided on the lower side of the second machine head; The first drive assembly and the second drive assembly are respectively disposed on the first machine head and the second machine head, and are used to drive the corresponding first walking wheel set and the second walking wheel set to rotate respectively; A rotating support is rotatably mounted on the first machine head and supports the first end, so that when the running speeds of the first traveling wheel set and the second traveling wheel set are different, the first end rotates relative to the first machine head with the rotating support.

2. The photovoltaic cleaning robot according to claim 1, characterized in that, The rotating support includes a support body and a collar, with the collar fixed to one end of the support body; A fixed seat is formed on the side of the first machine head facing the second machine head; the collar is coaxially slidably sleeved on the outer periphery of the fixed seat and is detachably rotatably connected to the fixed seat about its own central axis. The end of the support body furthest from the collar is connected to the first end.

3. A photovoltaic cleaning robot according to claim 2, characterized in that, It also includes a bushing, which is coaxially embedded between the fixed seat and the collar.

4. A photovoltaic cleaning robot according to claim 2 or 3, characterized in that, It also includes a pressure plate, which is detachably connected to the end of the fixed base away from the first machine head; The end of the collar facing away from the first machine head rotates to abut against the pressure plate.

5. A photovoltaic cleaning robot according to claim 4, characterized in that, A raised ring is formed around the fixing base on the side of the first machine head facing the second machine head; The end of the collar that is away from the pressure plate rotates to abut against the convex ring.

6. A photovoltaic cleaning robot according to claim 2, characterized in that, The support body includes a support portion, and the support portion has first support ears formed at both ends along the width direction of the body. The first support ear is a C-shaped tubular structure with openings facing each other, and extends along the length of the body toward the second head side; The first support ear is detachably and fixedly connected to the first end.

7. A photovoltaic cleaning robot according to claim 6, characterized in that, The support portion further includes a support plate, which is connected to two of the first support ears; The support plate has an integrally formed reinforcing frame on the side facing the second machine head, and the reinforcing frame has a hollow frame structure.

8. A photovoltaic cleaning robot according to claim 6 or 7, characterized in that, The support body further includes a connecting part, which connects the support part and the collar; The connecting part includes two ribs, which are arranged in parallel and spaced apart. One end of each rib is tangent to the outer circumference of the collar, and the other end is fixedly connected to the lower end face of the support part. Multiple arc-shaped plates are arranged parallel to each other between the two ribs. Each arc-shaped plate is set to be concentric with the collar, and the two ends of each arc-shaped plate are respectively connected to the corresponding rib, so that a limiting groove is formed between any two adjacent arc-shaped plates and the two ribs.

9. A photovoltaic cleaning robot according to claim 8, characterized in that, The rotating support also includes a limiting rod, which passes through the limiting groove along the length of the body and is detachably and fixedly connected to the first machine head; When the rotating support rotates relative to the first machine head, the limiting rod slides within the limiting groove.

10. A photovoltaic cleaning robot according to claim 9, characterized in that, The first machine head has an abutment block formed on the side facing the second machine head, and the abutment block is located above the central axis of the fixed base; The limiting rod passes through the limiting groove and is then screwed into the abutting block; The end of the abutment block away from the first machine head slides and abuts against the end face of the arc-shaped plate near the first machine head.

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