CN113245262A

CN113245262A - Photovoltaic cleaning robot capable of crossing large seam

Info

Publication number: CN113245262A
Application number: CN202110486938.9A
Authority: CN
Inventors: 曾贤平; 陈应洪
Original assignee: Shenzhen Monster Robot Co ltd
Current assignee: Shenzhen Monster Robot Co ltd
Priority date: 2021-05-03
Filing date: 2021-05-03
Publication date: 2021-08-13

Abstract

The invention relates to a photovoltaic cleaning robot capable of crossing a large seam, which comprises a vehicle body, a rolling brush cleaning assembly, an intelligent tracking assembly and a track driving assembly, wherein the rolling brush cleaning assembly is arranged on the front side of the vehicle body, the photovoltaic cleaning robot cleans through the rolling brush cleaning assembly, the track driving assembly is arranged on two sides of the vehicle body, the intelligent tracking assembly is arranged on the lower side of the front end of the vehicle body, and the vehicle body walks under the driving of the track driving assembly. The automobile body includes the frame and sets up the casing on the frame, and the frame includes the chassis and sets up the fixed frame on the chassis, and the left side wall outside and the right side wall outside of fixed frame are provided with a track drive assembly respectively, and the top that lies in track drive assembly on the frame is provided with track automatically cleaning structure, and the bottom of frame is provided with central rotary sucker subassembly, and photovoltaic cleaning machines people adsorbs on the working face and carries out rotary motion through central rotary sucker subassembly. The invention has the characteristics of large seam crossing, self-cleaning of the crawler belt, high efficiency, intelligence and automatic cleaning.

Description

Photovoltaic cleaning robot capable of crossing large seam

Technical Field

The invention relates to a photovoltaic cleaning robot capable of crossing a large seam.

Background

Photovoltaic energy plays an important role in energy revolution as green renewable energy. And intelligent cleaning robot is more and more applied to the clean in-process of photovoltaic board. Solar photovoltaic has become an important power of energy revolution in the world as a renewable clean energy.

The surface of the solar cell panel is easy to accumulate dirt such as wind sand, dust and the like, and if the solar cell panel is not timely cleaned scientifically and professionally, the generated power of the module is reduced by 40% -60% to the maximum extent, and the generated energy is reduced by 20% -30%. Therefore, the concept of improving the power generation capacity and the benefit of the power station by reasonably and scientifically cleaning the solar cell panel and carefully maintaining the components is accepted by the industry.

When the photovoltaic panels are installed and fixed in the field, large gaps with different intervals exist among the photovoltaic panels due to the requirements of production, assembly and maintenance, and different gap intervals among the photovoltaic panels need to be spanned when the photovoltaic cleaning walking robot works. Therefore, the photovoltaic cleaning robot is required to be capable of intelligently and automatically identifying different field conditions when the photovoltaic cleaning robot can walk, the large seam crossing capacity is achieved, and the working efficiency is improved.

Disclosure of Invention

In view of the above problems in the prior art, a main object of the present invention is to provide a photovoltaic cleaning robot capable of crossing a large seam, which has the characteristics of crossing a large seam, self-cleaning of a crawler belt, high efficiency, intelligence and automatic cleaning.

The technical scheme of the invention is as follows:

a photovoltaic cleaning robot capable of crossing a large seam comprises a vehicle body, a rolling brush cleaning assembly and track driving assemblies, wherein the rolling brush cleaning assembly is arranged on the front side of the vehicle body, the photovoltaic cleaning robot is cleaned through the rolling brush cleaning assembly, the track driving assemblies are arranged on two sides of the vehicle body, the photovoltaic cleaning robot is driven by the track driving assemblies to walk, the vehicle body comprises a vehicle frame and a shell arranged on the vehicle frame, the side wall, positioned above the track driving assemblies, of the shell is provided with a fourth through hole, the vehicle frame comprises a chassis and a fixed frame arranged on the chassis, the track driving assemblies are respectively arranged on the outer sides of the left side wall and the right side wall of the fixed frame, and a track self-cleaning structure is arranged on the vehicle frame and positioned above the track driving assemblies, through track self-cleaning structure is right track among the track drive assembly cleans, the bottom of frame is provided with central rotatory sucking disc subassembly, photovoltaic cleaning robot passes through central rotatory sucking disc subassembly adsorbs and carries out rotary motion on the working face.

Rotatory sucking disc subassembly of central authorities includes central sucking disc, atmospheric pressure detection module and filter, wherein: the central sucker is communicated with one end of a sucker air pipe quick connector through a sucker air pipe, the other end of the sucker air pipe quick connector is communicated with one end of a first air pipe, the other end of the first air pipe is communicated with one end of a second air pipe through a quick connector, and the other end of the second air pipe is communicated with an air inlet of an air pressure detection module; the air outlet of the air pressure detection module is communicated with one end of a third air pipe, the other end of the third air pipe is communicated with the first connecting port of the filter, and the second connecting port of the filter is communicated with one end of a fourth air pipe.

The central rotary sucker component further comprises an electromagnetic valve and a vacuum pump, the other end of the fourth air pipe is communicated with a first interface of the electromagnetic valve, a second interface of the electromagnetic valve is communicated with one end of a fifth air pipe, and the other end of the fifth air pipe is communicated with the vacuum pump.

The crawler driving assembly comprises a crawler, and a driving module, a driven module, a pressure bearing frame and a pressing module which are arranged in the crawler, wherein the driven module and the driving module are respectively positioned at the front end and the rear end in the crawler, one side of the pressure bearing frame is fixedly connected with the outer side wall of the frame, and the pressing module is movably arranged below the pressure bearing frame.

The driving module comprises a driving shaft and a driving wheel fixedly arranged on the driving shaft, the driving shaft is driven by a driving motor arranged on the frame to rotate, and the driving wheel drives the crawler belt to move; the driven module comprises a driven shaft and a driven wheel arranged on the driven shaft, and a locknut is arranged at one end, located on the driven wheel, of the driven shaft.

The bearing frame comprises a first bearing plate and a second bearing plate, the first bearing plate is vertically arranged along the length direction and is fixedly arranged on the outer side wall of the frame through a fastening bolt, the second bearing plate is horizontally arranged along the length direction, one side wall along the length direction is fixedly connected with the lower end of the first bearing plate, and a plurality of groups of fixing parts are arranged on the lower surface of the second bearing plate along the length direction; a support fixing beam is arranged in each group of fixing parts, two ends of each support fixing beam are respectively provided with a pressing wheel outer support and a pressing wheel inner support, a pressing wheel fixing shaft is arranged between the pressing wheel outer support and the pressing wheel inner support, two ends of the pressing wheel fixing shaft are respectively provided with a pressing wheel through bearings, and the pressing wheels are abutted against the inner side wall of the crawler; the support fixing beam, the pressing wheel outer support, the pressing wheel inner support, the pressing wheel fixing shaft and the pressing wheel form the pressing module.

Pinch roller outer support and pinch roller inner support all include the installation department, the left side and the right side of installation department are provided with first connecting plate and second link board respectively, just first connecting plate, second link board with the installation department forms the structure of falling the V-arrangement, the tip setting of support fixed beam is in the mounting hole on the installation department, first connecting plate is kept away from the one end of installation department is provided with first connecting hole, be provided with in the first connecting hole the pinch roller fixed axle, the second connecting plate is kept away from the one end of installation department is provided with the second connecting hole, be provided with in the second connecting hole the pinch roller fixed axle.

The clean subassembly of round brush includes round brush module, linking bridge and installing support, wherein: the rolling brush module is arranged in the connecting support, and the connecting support is connected with the front end of the outer side wall of the frame through the two mounting supports.

The mounting bracket comprises a fixing plate, wherein a locking chute limiting clamping groove and a rotating chute are arranged on the fixing plate, the fixing plate is in contact with a first bearing wheel arranged on the outer side wall of the frame, and meanwhile, the fixing plate is movably connected with a second bearing wheel arranged on the outer side wall of the frame through the rotating chute and is locked through a first limiting bolt arranged on the outer side wall of the frame.

The round brush module includes brush hair, fixed roll and driven gear, wherein: the fixed setting of brush hair is in on the fixed roll, the both ends of fixed roll are provided with the gyro wheel respectively, the fixed driven gear that is provided with of one end of fixed roll, just driven gear with the driving gear meshing transmission that sets up on the linking bridge, still be provided with the round brush motor on the linking bridge, the driving gear is in rotate under the drive of round brush motor.

The crawler self-cleaning structure comprises a hairbrush component and a cleaning component, the hairbrush component is fixedly arranged on the vehicle body and is positioned above the crawler driving component to clean the crawler in the crawler driving component, the cleaning component is arranged on the vehicle body and is positioned inside the shell, and an air outlet or an air outlet of the cleaning component extends outwards through the fourth through hole to jet air to the crawler, so that the crawler is cleaned again.

The brush subassembly includes brush fixing base, brush mount, extension spring and brush, wherein: the brush fixing seat is fixedly arranged on the vehicle body and connected with the brush fixing frame through a shoulder screw, the brush is fixedly connected with the brush fixing frame through a bolt, the lower end of the brush abuts against the track, and two ends of the tension spring are respectively connected with the brush fixing frame and the vehicle body.

Clean subassembly includes breather pipe, connector and fan nozzle, wherein: one end of the vent pipe is connected with a vent main pipe arranged on the vehicle body, the other end of the vent pipe is connected with one end of the connector, the other end of the connector is communicated with the fan-shaped nozzle, and the gas outlet of the fan-shaped nozzle is positioned in the fourth through hole.

The cleaning assembly comprises a blower, the blower is arranged on the vehicle body through a fastening screw, and an air outlet of the blower is positioned in the fourth through hole; the lateral wall of air-blower outwards extends and is provided with first connecting portion and second connecting portion, be provided with first connecting hole in the first connecting portion, be provided with the second connecting hole in the second connecting portion.

Still set up intelligent tracking subassembly on the automobile body, intelligent tracking subassembly sets up the front end downside of automobile body, wherein: the intelligent tracking assembly comprises a tracking camera and an anti-falling ultrasonic sensor, and the tracking camera and the anti-falling ultrasonic sensor are respectively electrically connected with a micro control unit arranged on the vehicle body through leads.

The invention has the following advantages and beneficial effects: according to the photovoltaic cleaning robot capable of crossing the large seam, provided by the embodiment of the invention, the photovoltaic cleaning robot utilizes the dead weight of a vehicle body, the gravity center is positioned at the tail part of the vehicle body, and the friction force of the vehicle body on the effective contact surface of a convex-concave working surface is ensured by arranging the plurality of tensioning wheels capable of freely rotating on the lower part of the crawler belt; meanwhile, the inclined planes of the head end and the tail end of the crawler are both larger than 35 degrees, and the tight wheel set can rotate freely, so that the angle of the inclined plane is increased, the obstacle crossing performance is improved, and the strong climbing capacity is realized; in addition, the crawler belt has a self-cleaning function through the crawler belt self-cleaning structure arranged above the crawler belt, so that good friction adhesion between the crawler belt and the photovoltaic panel is realized, and the front and back movement of the vehicle body of the photovoltaic cleaning robot can be realized when the photovoltaic cleaning robot is in small effective contact with the crawler belt, so that larger seam crossing capacity, namely large seam crossing capacity, is realized; when the photovoltaic cleaning robot starts to span the seam in the cleaning operation process, the gravity center of the vehicle body is located on the first photovoltaic plate, the front portion of the vehicle body is guaranteed not to droop, the front end of the crawler stably reaches the second photovoltaic plate, and when the seam crossing work is completed, the gravity center of the vehicle body is moved to the position below the second photovoltaic plate, so that the operation of stably spanning the large seam is realized.

Drawings

Fig. 1 is a schematic perspective view of a photovoltaic cleaning robot capable of crossing a large seam on a photovoltaic panel according to an embodiment of the present invention.

Fig. 2 is a schematic front view structural diagram of a photovoltaic cleaning robot capable of crossing a large slit, which is provided by the embodiment of the invention, starting to cross the large slit on a photovoltaic panel.

Fig. 3 is a schematic top view of a photovoltaic cleaning robot capable of crossing a large slit according to an embodiment of the present invention.

Fig. 4 is a schematic front view structural diagram of the photovoltaic cleaning robot capable of crossing a large seam provided by the embodiment of the invention, which is used for finishing crossing the large seam on a photovoltaic panel.

Fig. 5 is a schematic perspective view of a photovoltaic cleaning robot capable of crossing a large seam provided by an embodiment of the invention, after a housing is removed.

Fig. 6 is a schematic front view of the photovoltaic cleaning robot capable of crossing a large seam according to the embodiment of the present invention.

Fig. 7 is a schematic top view of the photovoltaic cleaning robot capable of crossing a large gap according to the embodiment of the present invention.

Fig. 8 is an enlarged schematic perspective view of a filter according to an embodiment of the present invention.

FIG. 9 is a schematic view of a one-directional perspective structure of a central rotating chuck assembly according to an embodiment of the present invention.

FIG. 10 is a schematic perspective view of another embodiment of a central rotating chuck assembly according to the present invention.

Fig. 11 is an enlarged schematic view of the position a in fig. 10.

Fig. 12 is an enlarged schematic perspective view of a solenoid valve according to an embodiment of the present invention.

FIG. 13 is an exploded view of a central rotating chuck assembly according to an embodiment of the present invention.

Fig. 14 is an enlarged perspective view of the solenoid valve provided in the embodiment of the present invention in another direction.

Fig. 15 is an enlarged schematic view of the position B in fig. 13.

Fig. 16 is a schematic perspective view of a central rotating chuck assembly and a chuck dust-proof device according to an embodiment of the present invention.

Fig. 17 is a schematic structural diagram of an upright cross-sectional view of the central rotating chuck assembly and the chuck dust-proof device provided in the embodiment of the present invention.

Fig. 18 is an enlarged schematic view of the position C in fig. 17.

Fig. 19 is an exploded view of the combination of the central rotary chuck assembly and the chuck dust-proof device according to the embodiment of the present invention.

Fig. 20 is an enlarged schematic perspective view of a silicone sealing sleeve according to an embodiment of the present invention.

Fig. 21 is an enlarged front view structural diagram of a lower connecting frame according to an embodiment of the present invention.

Fig. 22 is an enlarged perspective view of an upper connection frame according to an embodiment of the present invention.

Fig. 23 is an enlarged schematic perspective view of a bearing seat and a second snap spring in cooperation according to an embodiment of the present invention.

Fig. 24 is an enlarged exploded schematic view of the central sucking disc, the lower connecting frame, the bearing seat, the first snap spring, the bearing and the second snap spring in cooperation according to the embodiment of the present invention.

FIG. 25 is an exploded view of a track drive assembly according to an embodiment of the present invention.

Fig. 26 is an exploded structural schematic diagram of a driving module and a driven module according to an embodiment of the present invention.

Fig. 27 is a schematic perspective view of a matched three-dimensional structure of a pressure bearing frame and a pressing module according to an embodiment of the present invention.

Fig. 28 is a schematic perspective view of a matched three-dimensional structure of a frame fixing beam, an outer support of a pinch roller, and an inner support of the pinch roller provided in an embodiment of the present invention.

Fig. 29 is an enlarged perspective view of a pressure-bearing frame according to an embodiment of the present invention.

Fig. 30 is an enlarged structural schematic view of an outer support or an inner support of a pinch roller according to an embodiment of the present invention.

Fig. 31 is an exploded schematic view of a pressure-bearing frame and a pressing module provided in an embodiment of the present invention.

Fig. 32 is a front view of a driving module, a driven module, and a track according to an embodiment of the present invention.

Fig. 33 is an enlarged view of the position D in fig. 32.

Fig. 34 is an enlarged front view schematically illustrating a rolling brush cleaning assembly according to an embodiment of the present invention.

Fig. 35 is an enlarged exploded schematic view of a rolling brush cleaning assembly according to an embodiment of the present invention.

Fig. 36 is an exploded view of the rolling brush cleaning module and the vehicle body according to the embodiment of the present invention.

Fig. 37 is an enlarged schematic view of the position E in fig. 36.

Fig. 38 is a schematic perspective view of a self-cleaning structure of a crawler belt and a vehicle body according to an embodiment of the present invention.

Fig. 39 is an enlarged schematic view of the position F in fig. 38.

FIG. 40 is an enlarged perspective view of the brush assembly according to the present invention.

FIG. 41 is an enlarged exploded view of the brush assembly according to the embodiment of the present invention.

FIG. 42 is an enlarged top view of the brush assembly according to the present invention.

Fig. 43 is an enlarged perspective view of the brush holder according to the embodiment of the present invention.

FIG. 44 is an enlarged top view of a cleaning assembly of one configuration in accordance with an embodiment of the present invention.

Fig. 45 is an enlarged front view of a cleaning assembly according to an embodiment of the present invention.

FIG. 46 is a right side view of a brush assembly with a cleaning assembly according to an embodiment of the present invention.

Fig. 47 is a schematic perspective view of a self-cleaning structure of a crawler belt cooperating with a vehicle body according to another embodiment of the present invention.

Fig. 48 is an enlarged view of the position G in fig. 47.

Fig. 49 is a front view structural diagram of a self-cleaning structure of a crawler belt cooperating with a vehicle body according to another structure provided by the embodiment of the invention.

Fig. 50 is an enlarged schematic view of the position H in fig. 49.

Fig. 51 is an enlarged top view structural schematic diagram of a crawler self-cleaning structure with another structure provided by the embodiment of the invention.

Fig. 52 is a schematic perspective view of a combination of an intelligent tracking assembly and a frame according to an embodiment of the present invention.

Detailed Description

The invention will be further described with reference to the drawings and specific examples.

As shown in fig. 1 to 52: the photovoltaic cleaning robot capable of crossing a large seam provided by the embodiment of the invention comprises a vehicle body 100, a rolling brush cleaning assembly 200 and a track driving assembly 300, wherein the rolling brush cleaning assembly 200 is arranged at the front side of the vehicle body 100, the photovoltaic cleaning robot cleans through the rolling brush cleaning assembly 200, the track driving assembly 300 is arranged at two sides of the vehicle body 100, the photovoltaic cleaning robot walks under the driving of the track driving assembly 300, the vehicle body 100 comprises a vehicle frame 101 and a shell 188 arranged on the vehicle frame 101, a fourth through hole 103 is arranged on the side wall of the shell 188 above the track driving assembly 300, the vehicle frame 101 comprises a chassis 104 and a fixed frame 105 arranged on the chassis, a track driving assembly 300 is respectively arranged on the outer side of the left side wall and the outer side wall of the fixed frame 105, a track self-cleaning structure is arranged on the vehicle frame 101 above the track driving assembly 300, the crawler 301 in the crawler driving assembly 300 is cleaned through the crawler self-cleaning structure, the bottom of the frame 101 is provided with the central rotary sucker assembly 400, and the photovoltaic cleaning robot is adsorbed on the working surface, namely the photovoltaic panel 160, through the central rotary sucker assembly 400 and performs rotary motion.

As shown in fig. 8 to 15, the central spin chuck assembly 400 includes a central chuck 401, an air pressure detecting module 402, a filter 403, an electromagnetic valve 420 and a vacuum pump 404, the central chuck 401 is connected to one end of a chuck air pipe quick connector 405 through a chuck air pipe (not shown), the other end of the chuck air pipe quick connector 405 is connected to one end of a first air pipe 411, the other end of the first air pipe 411 is connected to one end of a second air pipe 412 through a quick connector 406, the other end of the second air pipe 412 is connected to an air inlet of the air pressure detecting module 402, an air outlet of the air pressure detecting module 402 is connected to one end of a third air pipe 413, the other end of the third air pipe 413 is connected to a first connector 407 of the filter 403, a second connector 408 of the filter is connected to one end of a fourth air pipe 414, the other end of the fourth air pipe 414 is connected to a first connector 421 of the electromagnetic valve 420, the second port 422 of the solenoid valve 420 is in communication with one end of the fifth air pipe 415, and the other end of the fifth air pipe 415 is in communication with the vacuum pump 404.

The quick coupling 406 is a right-angle quick coupling, and the other end of the first air tube 411 is disposed in the first port 461 of the quick coupling 406, and one end of the second air tube 412 is disposed in the second port 462 of the quick coupling 406. Through the above design, that is, by designing the quick coupling 406 as a right-angle quick coupling, the first air pipe 411 and the second air pipe 412 can be quickly inserted into the quick coupling 406, which facilitates the assembly in the early stage and the maintenance in the later stage. The solenoid valve 420 is a two-position three-way solenoid valve.

The central chuck assembly is disposed on the chassis 104. Specifically, the central suction cup 101 is arranged below the base plate 104, the base plate 104 is provided with the positioning hole 118, the suction cup air pipe quick connector 405 is located in the positioning hole 418, the mounting assembly is arranged below the base plate 104, the filter 403 is arranged below the base plate 104 through the mounting assembly, the filter 403 can be firmly connected with the fixing plate 410 through the mounting assembly, and safety and reliability are improved.

The solenoid valve 420 is disposed above the base pan 104, and the vacuum pump 404 is disposed above the base pan 104. Meanwhile, the air pressure detection module 402 is also arranged above the chassis 104, and the assembly is convenient and quick.

The mounting assembly includes a mounting base plate 430, a first mounting bracket and a second mounting bracket, the mounting base plate 430 is disposed on a lower surface of the chassis 104, wherein: the upper end of the first mounting bracket is fixedly arranged on the lower surface of the mounting base plate 430, the lower end of the first mounting bracket is provided with a first opening 431, and one end of the filter 403 is arranged in the first mounting bracket through the first opening 431; the upper end of the second mounting bracket is fixedly arranged on the lower surface of the mounting base plate 430, the lower end of the second mounting bracket is provided with a second opening 432, the other end of the filter 403 is arranged in the second mounting bracket through the second opening 431, the filter 403 is firmly arranged below the mounting base plate 430 through the first mounting bracket and the second mounting bracket, and meanwhile, the mounting base plate 430 is fixedly arranged on the lower surface of the chassis 104, so that the filter 403 is firmly arranged below the chassis 104, the safety and reliability are improved, and the purpose of prolonging the service life of the filter 403 is achieved; in addition, because the filter 103 is quickly disassembled from the first mounting bracket and the second mounting bracket, the filter can be easily assembled and disassembled and replaced in the early stage.

The mounting base plate 430 has a mounting post 433 extending upward from an upper surface thereof, and the mounting post 433 is fixedly disposed in a mounting hole (not shown) of the chassis 104. That is, the mounting base plate 430 is firmly arranged below the chassis 104 through the mounting posts 433 arranged on the upper surface thereof, so that the assembly and disassembly maintenance are convenient. Meanwhile, the mounting posts 433 and the mounting base plate 430 are integrally formed, so that the firmness of combination between the mounting base plate 430 and the mounting posts 433 can be improved, and the service life of the mounting base plate is prolonged.

The first mounting bracket includes a first jaw 434 and a second jaw 435, the upper ends of the first jaw 434 and the second jaw 435 are fixedly disposed on the lower surface of the mounting base plate 430, a first opening 431 is formed in an area between the lower ends of the first jaw 434 and the second jaw 435, a first limit groove 436 is formed at the lower portion of the first jaw 434, a second limit groove 437 is formed at the lower portion of the second jaw 435, and one end of the filter 403 is located in a first mounting area 438 formed by the first limit groove 436 and the second limit groove 437, so that one end of the filter 403 is fixedly secured in the first mounting area 438, and safety and reliability are improved.

The second mounting bracket comprises a third jaw 439 and a fourth jaw 440, the upper ends of the third jaw 439 and the fourth jaw 440 are fixedly arranged on the lower surface of the mounting baseplate 430, a second opening 432 is formed in the area between the lower ends of the third jaw 439 and the fourth jaw 440, a third limiting groove 441 is formed at the lower part of the third jaw 439, a fourth limiting groove 442 is formed at the lower part of the fourth jaw 440, and the other end of the filter is positioned in a second mounting area 143 formed by the third limiting groove 441 and the fourth limiting groove 442, so that the other end of the filter 403 is fixedly arranged in the second mounting area 443, the safety and reliability are further improved, and the assembly in the early stage and the disassembly and maintenance in the later stage are facilitated.

The first jaw 434, the second jaw 435, the third jaw 439 and the fourth jaw 440 are integrally formed with the mounting baseplate 430, that is, the first jaw 434, the second jaw 435, the third jaw 439 and the fourth jaw 440 are formed by downward extension of the lower surface of the mounting baseplate 430, so that the firmness of the combination of the first jaw 434, the second jaw 435, the third jaw 439 and the fourth jaw 440 with the mounting baseplate 430 can be improved, and the service lives of the first mounting assembly and the second mounting assembly can be prolonged.

Through the design, namely, the filter 403 is arranged in the central rotating sucker component, so that the central rotating sucker component has a filtering function; by installing the central rotary sucker component with the filtering function at the rotation center of the cleaning robot in an ideal state, when the photovoltaic cleaning robot normally moves forward or backward, the central rotary sucker component is in a standby state, when the photovoltaic cleaning robot needs to rotate by an angle and changes the traveling direction, the central sucker 401 of the central rotary sucker component descends to a traveling plane, the vacuum pump 404 works, air is pumped out from the central sucker 401 to the first air pipe 411, then to the air pressure detection module 402 through the right-angle quick connector, then to the filter 403 through the third air pipe 413 to filter dust and dirty liquid, then clean air is discharged to the atmosphere through the fourth air pipe 414 to the two-position three-way electromagnetic valve 404 through the fifth air pipe 415, after the steering is completed, the vacuum pump 404 is closed, 420 connects the central sucker 401 with the atmosphere, pressure balance in the central sucker 401, the central sucker 401 is retracted, and the photovoltaic cleaning robot continues to work.

When the photovoltaic cleaning robot cleans a certain area or period, the filter 403 needs to be replaced, when the photovoltaic cleaning robot is replaced, the third air pipe 413 and the fourth air pipe 414 connected with the quick connection interfaces (i.e. the first connection interface 407 and the second connection interface 408) at the two ends of the filter 403 are pulled out, the old filter 403 is taken down from the first mounting bracket and the second mounting bracket below the fixed bottom plate 430, the third air pipe 413 and the fourth air pipe 414 at the two ends are connected with the new filter according to the indicated air inlet and air outlet directions, and the new filter is mounted in the first mounting region 138 in the first mounting bracket and the second mounting region 443 in the second mounting bracket, so that the installation and the disassembly are fast and convenient.

Meanwhile, a sucker dustproof device is also arranged in the central rotary sucker component. The central rotary sucker component further comprises a connecting plate 513, the lower end of the connecting plate 513 extends downwards to be provided with a first connecting convex part 21 and a second connecting convex part 22, the first connecting convex part 521 and the second connecting convex part 522 both penetrate through the positioning hole 118 and extend downwards, the central sucker 401 is connected with the first connecting convex part 521 and the second connecting convex part 522 through the connecting component, the sucker dustproof device comprises a silica gel sealing sleeve 501, the silica gel sealing sleeve 501 comprises a sealing sleeve body 515, the upper end and the lower end of the sealing sleeve body 515 are respectively opened, the upper end of the sealing sleeve body 515 extends outwards to be provided with a circular mounting part 516, the silica gel sealing sleeve 501 is arranged on the lower surface of the chassis 104 through the mounting part 516, the mounting part 516 is positioned outside the positioning hole 514, the lower end of the sealing sleeve body 15 extends downwards to be provided with a fixing part 517, and a mounting groove (not shown in the inside of the fixing part 517), the bottom of the mounting groove is provided with a first through hole 518. Specifically, the installation department 516 is provided with a plurality of first mounting holes 519 along the circumferencial direction, is provided with fastening screw 503 in the first mounting hole 519, and installation department 516 is through the cooperation of first mounting hole 519 and fastening screw 503 and chassis 104 fastening connection, makes things convenient for the dismantlement and the maintenance in assembly and the later stage in earlier stage, and fail safe nature obtains the promotion of certain degree simultaneously.

The central chuck assembly further comprises a fixed frame 510, the fixed frame 510 is located above the bottom plate 104, and the lower end of the fixed frame 510 is fixedly arranged on the bottom plate 104. Meanwhile, a steering engine 531 is fixedly arranged on the lower surface of the top of the fixed frame 510, a driving shaft (not shown in the figure) of the steering engine 531 is fixedly connected with one end of a steering engine arm 532, the other end of the steering engine arm 532 is fixedly connected with a connecting rod 533, and the other end of the connecting rod 533 is movably connected with the connecting plate 513. The connecting plate 513 can move up and down freely under the driving of the steering gear 531 through the matching of the connecting rod 533 and the steering gear arm 532, so that the central suction cup 401 can move up and down. When the photovoltaic cleaning robot carries out rotary motion, central sucking disc 401 carries out descending motion and laminates with the working face, and silica gel seal cover 501 carries out corresponding tensile along with the decline of central sucking disc 401, treats photovoltaic cleaning robot rotatory back, and central sucking disc 401 carries out ascending motion and keeps away from the working face, and silica gel seal cover 501 carries out corresponding shrink along with the rising of central sucking disc 401.

The chassis 104 is provided with a first guide post 541 and a second guide post 542 along the vertical direction, and the lower ends of the first guide post 541 and the second guide post 542 are respectively fixedly connected with the chassis 104. Specifically, the lower extreme of first guide pillar 541 and second guide pillar 542 all can be provided with the external screw thread, and first guide pillar 541 and second guide pillar 542 are threaded connection with chassis 104 promptly to through fastening nut and chassis 104 firm connection, make things convenient for the dismantlement in equipment and the later stage in earlier stage, still can improve the fastness that first guide pillar 541 and second guide pillar 542 combined together with chassis 104 simultaneously, fail safe nature obtains improving.

A first slider (not shown) and a second slider 543 are slidably connected to the first guide post 541 and the second guide post 542, respectively, one end of the connecting plate 513 is fixedly disposed on the first slider, and the other end of the connecting plate 513 is fixedly disposed on the second slider 543. Through the above design, that is, when the connecting plate 513 moves up and down under the driving of the steering engine 531, the connecting plate 513 can move up and down more stably through the cooperation of the first slider sliding on the first guide post 541 and the second slider 543 sliding on the second guide post 542.

The connecting assembly comprises an upper connecting frame 506, a bearing seat 502 and a lower connecting frame 507, wherein the upper connecting frame 506 is arranged in the mounting groove, the upper connecting frame 506 comprises a first fixed disk 554, a first fixed convex portion 555 and a second fixed convex portion 556 are formed on the upper surface of the first fixed disk 554 in an upward extending mode, the first fixed convex portion 555 is fixedly connected with the first connecting convex portion 521, and the second fixed convex portion 556 is fixedly connected with the second connecting convex portion 522. Specifically, a second through hole 558 is formed in the first fixed disk 554 along the central axis, a plurality of second mounting holes 557 may be formed in the first fixed disk 554 along the circumferential direction, a plurality of third mounting holes 520 are formed in the bottom of each mounting groove along the circumferential direction, and during mounting, the fastening bolts 511 sequentially penetrate through the second mounting holes 557 and the third mounting holes 520, so that the first fixed disk 554 and the mounting grooves are tightly matched, and further, the upper connecting frame 506 and the fixing portion 517 are connected more firmly, so that the purpose of firmly connecting the silicone sealing sleeve 501 and the upper connecting frame 506 is achieved. Meanwhile, the first fixing protrusion 555 can be fastened and connected with the first connecting protrusion 521 through a screw, and the second fixing protrusion 556 can be fastened and connected with the second connecting protrusion 522 through a screw, so that the assembly is convenient in the earlier stage, and the safety and reliability are improved.

The bearing seat 502 is fixedly arranged on the lower surface of the fixing portion 517, a fifth through hole 553 is arranged at the position of the bearing seat 552 along the central axis, an installation concave portion 559 is formed at the inner concave side wall of the bearing seat 502 located at the fifth through hole 553, and a deep groove ball bearing 512 is rotatably connected in the installation concave portion 559. Specifically, a plurality of sixth mounting holes 560 are formed in the bearing seat 502 in the circumferential direction, during mounting, the fastening bolts 511 sequentially penetrate through the second mounting holes 557 and the third mounting holes 520 and then are arranged in the sixth mounting holes 560, and meanwhile the fastening nuts are also arranged in the sixth mounting holes 560, so that the bearing seat 502, the silica gel sealing sleeve 501 and the upper connecting frame 506 can be fastened and connected to the greatest extent, and the safety and reliability are improved to a certain extent. In addition, safety reliability is improved by forming a mounting recess 559 concavely in a side wall of the bearing housing 552 at the fifth through hole 553, so that the deep groove ball bearing 512 is smoothly disposed in the mounting recess 559.

The lower connecting frame 507 includes a second fixed disk 570, the second fixed disk 570 is fixedly connected with the central suction cup 401, a first mounting convex portion 571 extends upward from the upper surface of the second fixed disk 570, a second mounting convex portion 572 extends upward from the upper surface of the first mounting convex portion 571, the deep groove ball bearing 512 is sleeved on the second mounting convex portion 572, a first fixing concave portion 573 is arranged on the outer side wall of the upper end of the second mounting convex portion 572 in the circumferential direction, and a first snap spring 551 is arranged in the first fixing concave portion 573. Meanwhile, the second fixing disk 570, the first mounting protrusion 571 and the second mounting protrusion 572 are integrally formed, so that the strength of the lower connecting frame 507 can be improved, and the service life of the lower connecting frame 507 can be prolonged. Specifically, a plurality of seventh mounting holes 575 are formed in the second fixed disc 570 along the circumferential direction, a plurality of eighth mounting holes 576 are formed in the central suction cup 401 along the circumferential direction, and the central suction cup 401 is fixedly connected with the second fixed disc 570 through the cooperation of the eighth mounting holes 576 and the seventh mounting holes 575, so that the firmness of the combination of the central suction cup 401 and the lower connecting frame 507 is improved; in addition, when the lower connecting frame 507 is connected with the bearing seat 502, that is, when the second mounting convex part 572 is mounted in the deep groove ball bearing 512, the first fixing concave part 573 is provided at a position above the deep groove ball bearing 512 on the second mounting convex part 572, and the first snap spring 551 is provided in the first fixing concave part 573, so that the second mounting convex part 572 is rotatably connected with the deep groove ball bearing 512 by the support of the first snap spring 551 without departing from the deep groove ball bearing 512, and safety and reliability are improved.

A second fixing recess 574 is formed in the bearing housing 502 in the circumferential direction of the lower portion of the inner sidewall of the mounting recess 559, a second snap spring 552 is disposed in the second fixing recess 574, and when the deep groove ball bearing 512 is mounted in the mounting recess 559, the lower surface of the deep groove ball bearing 512 abuts against the second snap spring 552. Through the design, the second fixing concave part 574 is formed at the lower part of the inner side wall of the mounting concave part 559 on the bearing seat 502 in a concave manner along the circumferential direction, the inner diameter of the second fixing concave part 574 is larger than that of the mounting concave part 559, when the second snap spring 552 is mounted in the second fixing concave part 574, the deep groove ball bearing 512 can be stably and firmly positioned in the mounting concave part 559 through the second snap spring 552, the deep groove ball bearing 512 is also well supported through the second snap spring 552, the deep groove ball bearing 512 can be prevented from slipping off from the mounting concave part 559, and the safety and reliability are improved.

The vacuum tube connector 508 is further included, the upper end of the vacuum tube connector 508 is connected to a vacuum tube (not shown), and the lower end of the vacuum tube connector 508 is sleeved on the connection post 577 at the upper end of the second mounting protrusion 572 and is communicated with the vacuum cavity 590 of the central chuck 401. Meanwhile, the connecting column 577 and the second mounting protrusion 572 are integrally formed, so that the firmness of the combination of the connecting column 577 and the second mounting protrusion 72 is improved, meanwhile, a vent hole 578 is arranged in the connecting column 577, and the vent hole 578 sequentially penetrates through the second mounting protrusion 572, the first mounting protrusion 571 and the second connecting disc 570 to be communicated with the vacuum cavity 590 on the central suction cup 401.

The external diameter of seal cover body 515 is less than the external diameter of installation department 516, and the external diameter of seal cover body 515 is greater than the external diameter of fixed part 517, and seal cover body 515, installation department 516 and fixed part 517 are integrated into one piece, consequently can improve the fail safe nature of silica gel seal cover 501, and then reach extension silica gel seal cover life's purpose.

The crawler driving assembly 300 comprises a crawler 301, and a driving module, a driven module, a bearing frame 302 and a pressing module which are arranged inside the crawler 301, wherein the driven module and the driving module are respectively positioned at the front end and the rear end inside the crawler 301, one side of the bearing frame 302 is fixedly connected with the outer side wall of the frame 101, and the pressing module is movably arranged below the bearing frame 302; the driving module comprises a driving shaft 303 and a driving wheel 304 fixedly arranged on the driving shaft 303, wherein the driving shaft 303 is driven by a driving motor (not shown in the figure) arranged on the frame 101 to rotate, and the driving wheel 304 drives the crawler 301 to move. In addition, a locknut 307 is arranged at one end of the driving shaft 303, which is positioned at the driving wheel 304, so as to limit the direction of the driving wheel 304 and avoid the driving wheel 304 from being separated from the driving shaft 303; the driven module comprises a driven shaft 305 and a driven wheel 306 arranged on the driven shaft 305, wherein a locknut 307 is arranged at one end, located on the driven wheel 306, of the driven shaft 305, so that the driven wheel 306 can be effectively prevented from falling off from the driven shaft 305, and the safety and reliability are further improved.

The supporting and pressing frame 302 comprises a first supporting plate 321 and a second supporting plate 322, the first supporting plate 321 is vertically arranged along the length direction and fixedly arranged on the outer side wall of the frame 101 through a fastening bolt (not shown in the figure), the second supporting plate 322 is horizontally arranged along the length direction and fixedly connected with the lower end of the first supporting plate 321 along one side wall of the length direction, a plurality of groups of fixing parts are arranged on the lower surface of the second supporting plate 322 along the length direction, a bracket fixing beam 308 is arranged in each group of fixing parts, an outer pressing wheel bracket 309 and an inner pressing wheel bracket 310 are respectively arranged at two ends of the bracket fixing beam 308, a pressing wheel fixing shaft 311 is arranged between the outer pressing wheel bracket 309 and the inner pressing wheel bracket 310, pressing wheels 313 are respectively arranged at two ends of the pressing wheel fixing shaft 311 through bearings 312, and abut against arc-shaped teeth arranged on the inner side wall of the crawler 301. Meanwhile, the bracket fixing beam 308, the pinch roller outer bracket 309, the pinch roller inner bracket 310, the pinch roller fixing shaft 311 and the pinch roller 313 form a pinch module. The pinch roller 313, the drive wheel 304, and the driven wheel 306 are engaged with arcuate teeth provided on the inner wall of the crawler 301.

First bearing plate 321 and second bearing plate 322 are integrated into one piece, and the upper surface of second bearing plate 322 is provided with a plurality of strengthening ribs 320 along length direction, and the one end of strengthening rib 320 and the lateral wall fixed connection of first bearing plate 321. Through the above design, that is, the first bearing plate 321 and the second bearing plate 322 are integrally formed, so that the firmness of the combination of the first bearing plate 321 and the second bearing plate 322 can be improved, and the safety and reliability are improved; in addition, the plurality of reinforcing ribs 320 are arranged on the second bearing plate 322, so that the strength of the second bearing plate 322 can be further improved, and the purpose of prolonging the service life of the bearing frame 302 is further achieved.

Each set of fixing portions includes a first fixing protrusion 331 and a second fixing protrusion 332, a first fixing hole 333 is provided in the first fixing protrusion 331, a second fixing hole 334 is provided in the second fixing protrusion 332, and both ends of the bracket fixing beam 308 are respectively provided in the first fixing hole 333 and the second fixing hole 334. Meanwhile, the first fixing protrusion 331 is fixedly provided at the front end of the lower surface of the second bearing plate 322, and the second fixing protrusion 332 is fixedly provided at the rear end of the lower surface of the second bearing plate 322. In addition, the first fixing protrusion 331 may be formed by extending the front end of the first bearing plate 322 downward, so that the firmness of the combination of the first fixing protrusion 331 and the second bearing plate 322 may be improved, and the safety and reliability may be further improved.

The outer pinch roller support 309 and the inner pinch roller support 310 both comprise mounting portions 314, a first connecting plate 315 and a second connecting plate 316 are arranged on the left side and the right side of the mounting portions 314 respectively, the first connecting plate 315, the second connecting plate 316 and the mounting portions 314 form an inverted V-shaped structure, the end portions of the support fixing beams 308 are arranged in mounting holes 317 in the mounting portions 314, a first connecting hole 318 is formed in one end, away from the mounting portions 314, of the first connecting plate 315, a pinch roller fixing shaft 311 is arranged in the first connecting hole 318, a second connecting hole 319 is formed in one end, away from the mounting portions 314, of the second connecting plate 316, and a pinch roller fixing shaft 311 is arranged in the second connecting hole 319.

Through the above design, that is, the outer pinch roller support 309 and the inner pinch roller support 310 both include the mounting portion 314, and the left side and the right side of the mounting portion 314 are respectively provided with the first connecting plate 315 and the second connecting plate 316 in an outward extending manner, that is, the first connecting plate 315 and the second connecting plate 316 are integrally formed with the mounting portion 314, so that the combining firmness of the first connecting plate 315 and the second connecting plate 316 with the mounting portion 314 can be improved; since the mounting portion 314 is provided therein with the mounting hole 317, both ends of the bracket fixing beam 308 are respectively provided in the mounting hole 317 of the mounting portion 314 in the pinch roller outer bracket 309 and the mounting hole 317 of the mounting portion 314 in the pinch roller inner bracket 310, so that the pinch roller outer bracket 309 and the pinch roller inner bracket 310 are connected to the second pressure bearing plate 322 through the bracket fixing beam 308.

In addition, because the structure formed by the first connecting plate 315, the second connecting plate 316 and the mounting portion 314 is an inverted V-shaped structure, the firmness of the combination of the first connecting plate 315, the second connecting plate 316 and the mounting portion 314 can be further improved; meanwhile, an end of the first connection plate 315 remote from the mounting portion 314, that is, a tip of the first connection plate 315 is provided with a first connection hole 318, and an end of the second connection plate 316 remote from the mounting portion 314 i.e. a tip end of the second connection plate 316 is provided with a second connection hole 319, a pinch roller fixing shaft 311 is disposed between the two first coupling holes 318 and the two second coupling holes 319 corresponding to each other between the pinch roller outer frame 309 and the pinch roller inner frame 310, and the two ends of the pinch roller fixing shaft 311 are respectively provided with pinch rollers 313 through bearings 312, that is, the second supporting plate 322 is movably connected with the plurality of pinch rollers 313 through the pinch roller outer bracket 309 and the pinch roller inner bracket 310, the pressure-bearing frame 302 abuts against the inner side wall of the crawler 301 through a plurality of pressure rollers 313 arranged in parallel to each other, so that the crawler 301 is in close contact with the working surface, i.e., the surface of the photovoltaic panel.

The rolling brush cleaning assembly 200 comprises a rolling brush module 201, a connecting bracket 202 and a mounting bracket 203, wherein: the roll brush module 201 is disposed in a connection bracket 201, and the connection bracket 201 is connected with the front end of the outer side wall of the fixed frame 105 through two mounting brackets 203. Through the above design, that is, also, the round brush cleaning assembly 200 includes the round brush module 201, the connecting bracket 202 and the mounting bracket 203, wherein, the round brush module 201 is fixed to be set up in the connecting bracket 202, and the connecting bracket 202 is connected with the left side wall and the right side wall front end of the fixed frame 105 respectively through two mounting brackets 203, makes things convenient for the equipment in earlier stage and the dismantlement in later stage.

The mounting bracket 203 comprises a fixing plate 204, a locking sliding groove 205, a limiting clamping groove 206 and a rotating sliding groove 208 are arranged on the fixing plate 204, the fixing plate 204 is in contact with a first bearing wheel 163 arranged on the outer side wall of the fixing frame 105 through the limiting clamping groove 206, the mounting bracket 203 can rotate around the first bearing wheel 163 through the limiting clamping groove 206, meanwhile, the fixing plate 204 is movably connected with a second bearing wheel 165 arranged on the outer side wall of the fixing frame 105 through the rotating sliding groove 208, namely, when the mounting bracket 203 rotates around the first bearing wheel 163 through the limiting clamping groove 206, the rotating sliding groove 208 rotates around the second bearing wheel 165, and the matching of the rotating sliding groove 208 and the second bearing wheel 165 plays a role in radial limiting and is locked through a first limiting bolt 164 arranged on the outer side wall of the fixing frame 105; when the mounting bracket 203 rotates counterclockwise to a certain angle, the second limit bolt 166 positioned above the second bearing wheel 165 on the outer side wall of the fixed frame 105 abuts against the upper end side wall of the rotating clamping groove 208, so as to achieve the purpose of preventing the mounting bracket 203 from rotating counterclockwise continuously; when the mounting bracket 203 rotates clockwise to a certain angle, the first limit bolt 164 abuts against the left end side wall of the locking chute 205, so as to achieve the purpose of preventing the mounting bracket 203 from rotating clockwise continuously. Through the design, namely, the rolling brush cleaning assembly 200 is arranged on the front side of the frame 101 through the mounting bracket 203, so that the rolling brush cleaning assembly is convenient to assemble, safe and reliable. Specifically, the first bearing wheel 163, the first limit bolt 164, the second bearing wheel 165 and the second limit bolt 166 are fixedly arranged at one end of the left side wall and one end of the right side wall of the outer part of the fixed frame 105, which are close to the rolling brush cleaning assembly 200, so that the assembly in the early stage and the disassembly and maintenance in the later stage are facilitated.

The round brush module 201 includes brush hair 210, fixed roller 211 and driven gear 212, wherein: the brush bristles 210 are fixedly arranged on a fixed roller 211, two ends of the fixed roller 211 are respectively provided with a roller 213, one end of the fixed roller 211 is fixedly provided with a driven gear 212, the driven gear 212 is in meshing transmission with a driving gear (not shown) arranged on the connecting bracket 202, the connecting bracket 201 is further provided with a rolling brush motor 207, and the driving gear is driven by the rolling brush motor 207 to rotate. Meanwhile, the connecting bracket 202 is further provided with a gear box 220 and a gear box bottom cover 221 arranged at the bottom of the gear box 220, the driving gear is arranged in the gear box 220, meanwhile, the lower end of the gear box 220 is opened, the driven gear 212 is installed in the gear box 220 through the opening at the lower end of the gear box 220, the opening at the bottom of the gear box 220 is sealed through the gear box bottom cover 221, the gear box bottom cover 221 is fixedly connected with the gear box 220 through a third fastening screw, the driving gear and the driven gear 212 are protected through the gear box 220 and the gear box bottom cover 221, and safety and reliability are improved. In addition, the left end and the right end of the fixed roller 211 are respectively provided with a first bearing 231 and a second bearing 232, wherein the first bearing 231 is located outside the roller 213 arranged at the left end of the fixed roller 211, the first bearing 231 is installed in a first installation space (not shown in the figure) formed by a first bearing upper seat 233 and a first bearing lower seat 234 arranged on the left end and the right side wall of the connecting bracket 202, and the first bearing lower seat 234 is fixedly connected with the first bearing upper seat 233 through a first fastening screw (not shown in the figure); meanwhile, the second bearing 232 is located between the roller 213 and the driven gear 212 arranged at the right end of the fixing roller 211, but the second bearing 232 is installed in a second installation space (not shown in the figure) formed by a second bearing upper seat 235 and a second bearing lower seat 236 arranged on the left side wall at the right end of the connecting bracket 202, and the second bearing lower seat 236 is fixedly connected with the second bearing upper seat 235 through a second fastening screw (not shown in the figure), so that the assembly in the early stage and the disassembly in the later stage are facilitated.

Since the rolling brush cleaning assembly 200 and the track driving module 300 are externally connected, the assembly in the early stage and the disassembly and replacement in the later stage are facilitated. Meanwhile, the rolling brush module 201 in the rolling brush cleaning assembly 200 and the track 301 in the track driving module 300 are easy-to-wear parts due to the working characteristics, and the driving wheel 304, the driven wheel 306 and the pressing wheel 313 in the track driving module 300 are all easy-to-wear parts, so that corresponding parts can be replaced in time when worn and aged. In addition, according to the difference of clean requirement, the round brush of different materials is required, can follow the trade according to the condition. When the roller brushes with different lengths need to be selected, the module can be replaced integrally. Meanwhile, when the installation inclination angles or the surface working conditions of the photovoltaic panels are different, different tracks 301 need to be replaced to adapt to different road environments.

When the replacement is needed, the rolling brush module 201, the caterpillar 301, the driving wheel 304, the driven wheel 306, the pinch roller 313 and the like can be replaced singly, and the rolling brush cleaning assembly 200 and the caterpillar driving module 300 can also be replaced as a whole according to specific requirements; when the crawler 301 needs to be replaced, the fastening bolts on the first bearing plates 321 in the bearing frame 302 are loosened, the bearing frame 302 and the pressing module are integrally taken down, the crawler 301 is loosened, and then a new crawler or a crawler with different material types is replaced according to the requirement; when the driving wheel 304 or the driven wheel 306 needs to be replaced, the pressure bearing frame 302, the pressing module and the crawler 301 are taken down as described above, and then the locknut 307 and the set screw of the driving wheel 304 or the driven wheel 306 are loosened (the driving wheel 304 is connected with the driving shaft 303 through the set screw and the driven wheel 306 is connected with the driven shaft 305 through the set screw), so that the driving wheel 304 or the driven wheel 306 can be taken out; when the pinch roller 313 needs to be replaced, the pressure bearing frame 302 and the pinch module are integrally removed as described above, and then the pinch roller outer frame 309 is removed, so that the pinch roller 313 can be taken out.

Two outer brackets, namely two mounting brackets 203 of the rolling brush cleaning assembly 200 are hung on two sides of the frame 101, and the connection between the mounting brackets 203 and the fixed frame 105 is a unique designed limited movable connection; when the whole rolling brush cleaning assembly 200 is replaced, the first limiting bolts 164 at the two sides of the fixed frame 105 are rotated out, so that the whole rolling brush cleaning assembly 200 can be lifted forwards and upwards; when the rolling brush module 201 is replaced, the first fastening screw is loosened to remove the first bearing lower seat 234, the second fastening screw is loosened to remove the second bearing lower seat 236, and the third fastening screw is loosened to remove the gear box bottom cover 221, so that the rolling brush module 201 can be taken out from the lower side.

The self-cleaning structure of the crawler belt comprises a hairbrush assembly and a cleaning assembly, the hairbrush assembly is fixedly arranged on the vehicle body 100 and located above the crawler belt 301 to clean the crawler belt 301, the cleaning assembly is arranged on the vehicle body 100 and located inside the shell 188, an air outlet 141 or an air outlet 133 of the cleaning assembly extends outwards through the through hole 103 to blow air or spray high-pressure air to the crawler belt 301, and then the crawler belt 301 is cleaned again.

The brush assembly comprises a brush fixing seat 173, a brush fixing frame 174, a tension spring 175 and a brush 106, wherein: the brush fixing seat 173 is fixedly disposed on the vehicle body 100, the brush fixing seat 173 is connected to the brush fixing frame 174 via a shoulder screw 107, the brush 106 is fixedly connected to the brush fixing frame 174 via a bolt 108, the lower end of the brush 106 abuts against the track 301, and two ends of the tension spring 105 are respectively connected to the brush fixing frame 174 and the vehicle body 100.

The brush fixing seat 173 includes a brush fixing base 109 and a fixing post 110, the brush fixing base 109 is fixed on the vehicle body 100 through a plurality of mounting holes 111, the fixing post 110 is vertically disposed on the brush fixing base 109, a fixing portion 112 is disposed at an upper end of the fixing post 110, a first fixing hole 113 is disposed in the fixing portion 112 along a horizontal direction, and a shaft shoulder screw 107 penetrates through the first fixing hole 113 and is connected with the brush fixing frame 174 through a shaft sleeve 114. Because the brush fixing base 109, the fixing post 110 and the fixing portion 112 are integrally formed, the firmness of the combination of the brush fixing base 109, the fixing post 110 and the fixing portion 112 can be improved, and the strength of the brush fixing seat 173 can be improved, thereby prolonging the service life of the brush fixing seat. Meanwhile, the brush fixing base 109 is fixedly arranged on the vehicle body 100 through a plurality of mounting holes 111, so that the assembly and the later-stage disassembly maintenance are convenient, and the connection between the brush 106 and the vehicle body 100 can be more stable.

The brush fixing frame includes a first fixing plate 121 and a second fixing plate 122, the rear end of the first fixing plate 121 is fixedly connected to the front end of the second fixing plate 122, the brush 106 is fixedly disposed on the rear side of the first fixing plate 121 by bolts 108, and the right end of the brush 106 is disposed in a positioning groove 115 disposed on the left side of the second fixing plate 122. Specifically, be provided with second fixed orifices 124 on the first fixed plate 121, the position corresponding with second fixed orifices 124 on the brush 106 is provided with third fixed orifices 125, bolt 108 runs through third fixed orifices 125 and sets up in second fixed orifices 124, and through first locknut 126 and first fixed plate 121 fastening connection, and then make the connection between brush 106 and the first fixed plate 121 more firm, the right-hand member of brush 106 supports and leans on in the left positioning groove 115 of second fixed plate 122 simultaneously, and then can make the connection between brush 106 and the brush mount more firm, fail safe nature is promoted.

The front part of the right side of the second fixing plate 122 is provided with a first hooking part 116, the upper end of the tension spring 105 is arranged on the first hooking part 116, the lower end of the tension spring 105 is fixedly arranged on the vehicle body 100, a connecting hole 117 is arranged at the position of the second fixing plate 122 at the rear side of the brush 106, a shaft sleeve 114 is arranged in the connecting hole 117, and the brush fixing frame 174 is rotatably connected with the shoulder screw 107 through the shaft sleeve 114. Meanwhile, the vehicle body 100 is provided with the second hooking part 123, the lower end of the tension spring 175 is arranged on the second hooking part 123, the tension spring 175 is in a stretching state under the condition of normal work of the photovoltaic cleaning robot, so that certain pressure is ensured between the brush 106 and the crawler 301, when the crawler 301 moves, a large friction force can be generated between the brush 106 and the outer surface of the crawler 301, and the cleaning effect of the brush 106 on the crawler 301 can be ensured.

Specifically, the shaft sleeve 114 is fixedly disposed in the connecting hole 117 of the second fixing plate 122, the optical axis portion of the shoulder screw 107 is in clearance fit with the shaft sleeve 114, and the threaded portion of the shoulder screw 107 is tightly connected with the second fixing plate 122 through the second locknut 127.

The cleaning assembly may include a vent tube 130, a connector 131, and a fan nozzle 132, wherein: one end of the vent pipe 130 is connected to a vent manifold (not shown) provided on the vehicle body 100, and the other end of the vent pipe 130 is connected to one end of the connector 131, the other end of the connector 131 is communicated with the fan nozzle 132, and the air outlet 133 of the fan nozzle 132 is located in the through hole 103. Meanwhile, the connector 131 is a quick-screwing connector, so that the vent pipe 130 and the fan-shaped nozzle 132 can be quickly assembled and are convenient to disassemble and maintain later by adopting the connector 131. After clearing up track 301 through the brush subassembly, rethread fan nozzle 132 spouts high-pressure gas on track 301, can further blow away the dust on track 301, and the adhesion of the dust that can significantly reduce on the track, and then improves the clean effect of track.

The fan-shaped nozzle 132 is arranged on the vehicle body 100 through a fastening screw, a clamping groove 134 is arranged on one side of the bottom of the through hole 103, the clamping groove 134 is communicated with the through hole 103, one end, located at the air outlet 133, of the fan-shaped nozzle 132 is arranged in the through hole 103 and the clamping groove 134, namely the air outlet 133 is located at the bottom of the through hole 103 and the clamping groove 134. Specifically, the fan-shaped nozzle 132 may be provided with a fourth fixing hole 128, and the fan-shaped nozzle 132 is firmly arranged on the vehicle body 100 through the fourth fixing hole 128 by a fastening screw, so that the safety and reliability are improved; in addition, the clamping groove 134 is arranged on one side of the bottom of the through hole 103, so that the fan-shaped nozzle 132 can be firmly installed at the bottom of the through hole 103 and in the clamping groove 134, the air outlet 134 of the fan-shaped nozzle 132 is opposite to the crawler 301, and high-pressure air is sprayed on the crawler 301 through the air outlet 133 of the fan-shaped nozzle 132, so that dust on the crawler 301 is cleaned.

The cleaning assembly may also include a blower 140, the blower 140 is disposed on the vehicle body 100 by fastening screws, and the air outlet 141 of the blower 140 is located in the through hole 103. Through the above design, the cleaning assembly may include blower 140, blower 140 is firmly disposed on vehicle body 100 by fastening screws, and air outlet 141 of blower 140 is installed in through hole 103 provided on the sidewall of vehicle body 100, and air outlet 141 faces crawler 301, and then blows air on crawler 301 through air outlet 141 of blower 140, so as to clean up dust on crawler 301.

An outer sidewall of the blower 140 is outwardly extended with a first connection portion 142 and a second connection portion 143, the first connection portion 142 having a first connection hole 144 formed therein, and the second connection portion 143 having a second connection hole 145 formed therein. With the above-mentioned design, that is, the first connection portion 142 and the second connection portion 143 are outwardly extended from the outer sidewall of the blower 140, that is, the first connection portion 142 and the second connection portion 143 are integrally formed with the blower 140, so that the firmness of the connection between the first connection portion 142 and the blower 140 and the second connection portion 143 can be improved, and meanwhile, the blower 140 can be firmly fixed to the vehicle body 100 by providing the first connection hole 144 in the first connection portion 142 and the second connection hole 145 in the second connection portion 143.

The first fixing plate 121 and the second fixing plate 122 are integrally formed, and the first fixing plate 121 and the second fixing plate 122 are vertically arranged, so that the firmness of the first fixing plate 121 and the second fixing plate 122 can be improved, and the service life of the brush fixing frame can be prolonged.

Still set up intelligent tracking subassembly on automobile body 100, intelligent tracking subassembly sets up the front end downside of automobile body 100, specific can set up the front end downside at frame 101, wherein: the intelligent tracking assembly comprises a tracking camera 601 and an anti-falling ultrasonic sensor 602, the tracking camera 601 and the anti-falling ultrasonic sensor 602 are electrically connected with a micro control unit (not shown in the figure) arranged on the vehicle body 100 through leads respectively, and the tracking camera 601 identifies and plans a route according to line characteristics in a photovoltaic panel. The falling-prevention ultrasonic sensor 602 measures the distance between the bottom of the vehicle body 100 and the upper surface and the frame of the photovoltaic panel by utilizing ultrasonic reflection, judges whether the vehicle body 100 moves to the outside of the frame of the photovoltaic panel, and prevents the vehicle body 100 from falling by matching with a mileometer. When the photovoltaic cleaning robot is in a cleaning operation, generally, the photovoltaic cleaning robot is in a straight-line driving state, a certain reference object is needed to maintain the car body 100 to perform straight-line driving, at this time, line features of shading of the photovoltaic panel are extracted according to shading images of the photovoltaic panel shot by the tracking camera 601, the line features comprise gaps among borders of the photovoltaic panel, metal grid lines and solar cells, a central path of a relative intelligent tracking assembly is fitted according to the relative position of the photovoltaic panel, the path can be installed on the car body 100 of the photovoltaic cleaning robot according to the position of the intelligent tracking assembly, and the transverse position deviation and the yaw angle deviation of the car body 100 of the photovoltaic cleaning robot and a preset path are calculated, so that the required planning path is calculated, and the intelligent tracking function in the autonomous operation is realized.

Finally, it should be noted that: the above-mentioned embodiments are only used for illustrating the technical solution of the present invention, and not for limiting the same; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some or all of the technical features may be equivalently replaced; and the modifications or the substitutions do not make the essence of the corresponding technical solutions depart from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. A photovoltaic cleaning robot capable of crossing a large seam, the photovoltaic cleaning robot comprises a vehicle body, a rolling brush cleaning assembly and track driving assemblies, the rolling brush cleaning assembly is arranged on the front side of the vehicle body, the photovoltaic cleaning robot cleans through the rolling brush cleaning assembly, the track driving assemblies are arranged on two sides of the vehicle body, and the photovoltaic cleaning robot walks under the driving of the track driving assemblies, and the photovoltaic cleaning robot is characterized in that: the automobile body includes the frame and sets up casing on the frame, the casing is located the lateral wall of track drive assembly top is provided with the fourth through-hole, the frame includes the chassis and sets up fixed frame on the chassis, fixed frame's the left side wall outside and the right side wall outside are provided with one respectively track drive assembly, be located on the frame track drive assembly's top is provided with track automatically cleaning structure, through track automatically cleaning structure is right track among the track drive assembly cleans, the bottom of frame is provided with central rotatory sucking disc subassembly, photovoltaic cleaning machines people passes through central rotatory sucking disc subassembly adsorbs and carries out rotary motion on the working face.

2. The photovoltaic cleaning robot capable of spanning large seams of claim 1, wherein the central rotating suction cup assembly comprises a central suction cup, an air pressure detection module, and a filter, wherein: the central sucker is communicated with one end of a sucker air pipe quick connector through a sucker air pipe, the other end of the sucker air pipe quick connector is communicated with one end of a first air pipe, the other end of the first air pipe is communicated with one end of a second air pipe through a quick connector, and the other end of the second air pipe is communicated with an air inlet of an air pressure detection module;

the air outlet of the air pressure detection module is communicated with one end of a third air pipe, the other end of the third air pipe is communicated with the first connecting port of the filter, and the second connecting port of the filter is communicated with one end of a fourth air pipe.

3. The photovoltaic cleaning robot capable of crossing a large seam according to claim 2, wherein the central rotary suction cup assembly further comprises an electromagnetic valve and a vacuum pump, the other end of the fourth air tube is communicated with a first port of the electromagnetic valve, a second port of the electromagnetic valve is communicated with one end of a fifth air tube, and the other end of the fifth air tube is communicated with the vacuum pump.

4. The photovoltaic cleaning robot capable of crossing the large seam according to any one of claims 1 to 3, wherein the track driving assembly comprises a track, and a driving module, a driven module, a pressure bearing frame and a pressing module which are arranged inside the track, the driven module and the driving module are respectively arranged at the front end and the rear end in the track, one side of the pressure bearing frame is fixedly connected with the outer side wall of the frame, and the pressing module is movably arranged below the pressure bearing frame.

5. The photovoltaic cleaning robot capable of crossing a large seam as claimed in claim 4, wherein the driving module comprises a driving shaft and a driving wheel fixedly arranged on the driving shaft, the driving shaft is driven by a driving motor arranged on the frame to rotate, and the driving wheel drives a track to move; the driven module comprises a driven shaft and a driven wheel arranged on the driven shaft, and a locknut is arranged at one end, located on the driven wheel, of the driven shaft.

6. The photovoltaic cleaning robot capable of crossing the large seam according to claim 4, wherein the pressure bearing frame comprises a first pressure bearing plate and a second pressure bearing plate, the first pressure bearing plate is vertically arranged along the length direction and is fixedly arranged on the outer side wall of the frame through a fastening bolt, the second pressure bearing plate is horizontally arranged along the length direction, one side wall along the length direction is fixedly connected with the lower end of the first pressure bearing plate, and a plurality of groups of fixing parts are arranged on the lower surface of the second pressure bearing plate along the length direction;

a support fixing beam is arranged in each group of fixing parts, two ends of each support fixing beam are respectively provided with a pressing wheel outer support and a pressing wheel inner support, a pressing wheel fixing shaft is arranged between the pressing wheel outer support and the pressing wheel inner support, two ends of the pressing wheel fixing shaft are respectively provided with a pressing wheel through bearings, and the pressing wheels are abutted against the inner side wall of the crawler; the support fixing beam, the pressing wheel outer support, the pressing wheel inner support, the pressing wheel fixing shaft and the pressing wheel form the pressing module.

7. The photovoltaic cleaning robot capable of crossing the large seam according to claim 4, wherein the outer and inner pinch roller supports each comprise an installation part, a first connecting plate and a second connecting plate are respectively arranged on the left and right sides of the installation part, the first connecting plate, the second connecting plate and the installation part form an inverted V-shaped structure, the end part of the support fixing beam is arranged in the installation hole in the installation part, a first connecting hole is formed in one end, away from the installation part, of the first connecting plate, the pinch roller fixing shaft is arranged in the first connecting hole, a second connecting hole is formed in one end, away from the installation part, of the second connecting plate, and the pinch roller fixing shaft is arranged in the second connecting hole.

8. The photovoltaic cleaning robot capable of spanning large gaps according to any one of claims 1 to 3, wherein the rolling brush cleaning assembly comprises a rolling brush module, a connecting bracket and a mounting bracket, wherein: the rolling brush module is arranged in the connecting support, and the connecting support is connected with the front end of the outer side wall of the frame through the two mounting supports.

9. The photovoltaic cleaning robot capable of crossing the large seam according to claim 8, wherein the mounting bracket comprises a fixing plate, the fixing plate is provided with a locking chute limiting clamping groove and a rotating chute, the fixing plate is in contact with a first bearing wheel arranged on the outer side wall of the frame through the limiting clamping groove, and meanwhile, the fixing plate is movably connected with a second bearing wheel arranged on the outer side wall of the frame through the rotating chute and is locked through a first limiting bolt arranged on the outer side wall of the frame.

10. The photovoltaic cleaning robot capable of crossing a large seam according to claim 8, wherein the roll brush module comprises bristles, a fixed roller and a driven gear, wherein: the fixed setting of brush hair is in on the fixed roll, the both ends of fixed roll are provided with the gyro wheel respectively, the fixed driven gear that is provided with of one end of fixed roll, just driven gear with the driving gear meshing transmission that sets up on the linking bridge, still be provided with the round brush motor on the linking bridge, the driving gear is in rotate under the drive of round brush motor.

11. The photovoltaic cleaning robot capable of crossing a large seam according to any one of claims 1 to 3, wherein the track self-cleaning structure comprises a brush assembly and a cleaning assembly, the brush assembly is fixedly arranged on the vehicle body and positioned above the track driving assembly to perform cleaning operation on the track in the track driving assembly, the cleaning assembly is arranged on the vehicle body and positioned inside the shell, and an air outlet or an air outlet of the cleaning assembly extends outwards through the fourth through hole to perform air injection on the track so as to perform cleaning operation on the track again.

12. The photovoltaic cleaning robot capable of crossing a large seam according to claim 11, wherein the brush assembly comprises a brush fixing seat, a brush fixing frame, a tension spring and a brush, wherein: the brush fixing seat is fixedly arranged on the vehicle body and connected with the brush fixing frame through a shoulder screw, the brush is fixedly connected with the brush fixing frame through a bolt, the lower end of the brush abuts against the track, and two ends of the tension spring are respectively connected with the brush fixing frame and the vehicle body.

13. The photovoltaic cleaning robot capable of spanning a large gap according to claim 11, wherein the cleaning assembly comprises a vent pipe, a connector and a fan nozzle, wherein: one end of the vent pipe is connected with a vent main pipe arranged on the vehicle body, the other end of the vent pipe is connected with one end of the connector, the other end of the connector is communicated with the fan-shaped nozzle, and the gas outlet of the fan-shaped nozzle is positioned in the fourth through hole.

14. The photovoltaic cleaning robot capable of crossing a large seam according to claim 1, wherein the cleaning assembly comprises a blower, the blower is arranged on the vehicle body through fastening screws, and an air outlet of the blower is located in the fourth through hole; the lateral wall of air-blower outwards extends and is provided with first connecting portion and second connecting portion, be provided with first connecting hole in the first connecting portion, be provided with the second connecting hole in the second connecting portion.

15. The photovoltaic cleaning robot capable of crossing a large seam according to claim 1, wherein an intelligent tracking component is further arranged on the vehicle body, the intelligent tracking component is arranged on the lower side of the front end of the vehicle body, and the photovoltaic cleaning robot is characterized in that: the intelligent tracking assembly comprises a tracking camera and an anti-falling ultrasonic sensor, and the tracking camera and the anti-falling ultrasonic sensor are respectively electrically connected with a micro control unit arranged on the vehicle body through leads.