CN117375521A - Driving device for cleaning robot - Google Patents

Abstract

The application discloses cleaning machines people uses drive arrangement, can increase its frictional force with solar panel through anti-skidding track, simultaneously through setting up at anti-skidding track out-of-band first, second anti-skidding recess, can further increase the frictional force of anti-skidding track and solar panel, ensure the stability of cleaning machine at the cleaning in-process. The distance between the driving device and the side of the solar panel and the advancing direction can be determined by means of the distance sensor, so that the driving device is prevented from falling from the edge of the solar panel in the operation process. The hanging device can ensure that the cleaning robot still contacts with the solar panel when encountering the bulge, thereby improving the cleaning effect. The walking angle and the rotating speed of the driving device can be determined through the gyroscope, the image information on the solar panel can be collected through the set camera, the walking path of the cleaning robot is ensured, and the cleaning robot is further prevented from falling from the edge of the solar panel. The cleaning robot is ensured to walk through the whole solar panel, and the cleaning effect and efficiency are improved.

Description

Driving device for cleaning robot

Technical Field

The invention relates to the technical field of solar power generation panel application, in particular to a driving device for a cleaning robot.

Background

In recent years, the development of the photovoltaic power generation industry in China is rapid, but the working environment of the solar panel is only outdoor, the photovoltaic panel is extremely susceptible to the influence of the environment, and the biggest problem affecting the work of the photovoltaic panel is not wind, rain and lightning, but dust accumulated throughout the year; dust or other attachments are attached to the solar panel, so that the light transmittance of the panel can be influenced, the photoelectric efficiency is hindered, the efficiency of the panel for directly acquiring sunlight can be seriously influenced, the energy absorption and conversion efficiency of the panel are reduced, and the power generation efficiency is reduced.

However, the solar panel in the prior art can only rely on manual work to finish cleaning work regularly in use, and dust can be accumulated repeatedly due to the large area of the solar panel and the large number of panels used in a large power station at the same time, so that repeated cleaning is needed; therefore, the labor cost is high, the cleaning efficiency is low, and the cleaning effect is poor; in many occasions, in order to improve the space utilization rate, the solar panel is arranged at a high place by using the bracket, so that greater difficulty and challenges are brought to cleaning work; many users of solar panels are only forced to bear the electrical energy loss caused by dust, as they can choose not to clean in order to reduce the cleaning cost. Therefore, a new automatic cleaning device is needed to automatically clean the solar panel, that is, a cleaning robot is used to clean the photovoltaic panel.

However, the cleaning robots in the prior art are generally only applicable to horizontal ground and cannot be applied to a slope plane such as a solar panel; if the existing cleaning robot is directly used on the solar panel, the following problems may be caused:

the cleaning robot has insufficient power, cannot freely travel and has poor cleaning effect; because the inclination angle of the solar panel is generally between 10 degrees and 40 degrees, the existing cleaning robot cannot freely travel on a slope plane, and the electric quantity is quickly exhausted even if the robot can travel barely. In addition, as the solar panel is smooth, the weight and the wheel friction coefficient of the existing cleaning robot are small, the friction force is small, the travelling is difficult, and the cleaning robot can easily slide from the solar panel. Meanwhile, the existing cleaning robot is generally set to automatically turn when encountering obstacles, and the cleaning robot automatically running can only run on a single path due to the fact that no obstacle exists on the solar panel, and the cleaning robot has a small coverage area in the running process and can necessarily fall from the edge of the solar panel. Even if the path is planned in advance, the existing cleaning robot is easily influenced by gravity and panel attachments during running, and can easily deviate from the path, so that straight running is difficult to ensure; and the cleaning robot cannot detect the cleaning robot and can not walk through the whole panel, so that a large amount of space which cannot be cleaned is left.

Disclosure of Invention

The utility model provides a cleaning robot is with drive arrangement to solve current cleaning robot and follow solar panel from the landing easily and follow solar panel edge and fall down easily, can not be covered with whole solar panel during the cleaning, can leave a large amount of spaces that cannot clean, influence the problem of cleaning effect.

To solve the above technical problem, the present application provides a driving device for a cleaning robot, including:

the device comprises a mounting frame, driving wheels positioned on two sides of the mounting frame and driven wheels positioned on two sides of the mounting frame, wherein a power supply module, a driving wheel supporting seat and a driven wheel fixing seat are fixed in the mounting frame, a bearing and a bearing retainer ring are fixed on the driving wheel supporting seat and the driven wheel fixing seat respectively, a bearing retainer ring is sleeved on the bearing, a left driving motor and a right driving motor which are fixed with the corresponding bearing are arranged on the driving wheel supporting seat, the driving wheels and the driven wheels are respectively fixedly connected with the end parts of the corresponding bearings, a driving wheel gland is connected with one end shaft of each driving wheel, a cover plate is connected with one end shaft of each driven wheel, an anti-slip crawler is sleeved on each driving wheel and the driven wheels together, a first anti-slip groove is formed in the outer side of each anti-slip crawler along the length direction of each anti-slip crawler, a second anti-slip groove is formed in the width direction of each driving wheel, a hanging device is arranged at the opposite positions of two sides of the mounting frame, each hanging device is positioned between the driving wheels, each hanging device is in contact with the inner bottom side of each anti-slip crawler, each driving wheel is fixedly connected with the corresponding sensor, a control box is arranged on one side of each gyroscope, and the control box is fixedly arranged on one side of each gyroscope.

On the basis of the above embodiment, as a preferred implementation manner, the mounting frame includes a bottom plate and a left side plate, a tail plate, a right side plate and a front side plate fixed on the bottom plate, and the left side plate, the tail plate, the right side plate and the front side plate are fixed by positioning pins and fastening screws.

As a preferred implementation mode, the suspension device comprises a bearing wheel shaft fixed on the left side plate and the right side plate, a bearing wheel frame is rotatably installed on the bearing wheel shaft, a circlip is arranged at the connection position of the bearing wheel shaft and the bearing wheel frame, the bearing wheel frame comprises a first bearing connecting plate and a second bearing connecting plate which are rotatably arranged on the bearing wheel shaft, horizontal rods are fixed at the lower ends of the first bearing connecting plate and the second bearing connecting plate, bearing wheels are rotatably installed at the two ends of the horizontal rods, the bearing wheels are in propping contact with the inner bottom side of the anti-skid crawler belt, and a tension spring is connected between the upper ends of the first bearing connecting plate and the second bearing connecting plate.

As a preferable implementation mode, the first bearing connecting plate is further provided with a first protruding portion, the second bearing connecting plate is further provided with a second protruding portion, a limiting shaft is fixed on the first protruding portion, and one end of the limiting shaft is located at a concave portion formed by the second protruding portion and the second bearing connecting plate.

One end of the tension spring is fixedly connected with the upper end of the bearing wheel frame, and the other end of the tension spring is fixedly connected with the upper end of the bearing wheel frame through a hook.

Further, the guard board comprises a left guard board fixed with the left side board and a right guard board fixed with the right side board, the left guard board and the right guard board are covered on the anti-skid crawler, and the distance sensor is fixed on the lower sides of the left guard board and the right guard board through a sensor bracket.

The power supply module comprises a quick-connection plug arranged in the mounting frame and a power supply battery connected with the quick-connection plug.

On the basis of the above embodiment, as a preferable embodiment, a handle is further fixed to the upper sides of the left side plate and the right side plate.

The control device also comprises a control handle electrically connected with the control panel.

On the basis of the above embodiment, as a preferred implementation manner, the camera is a UVC camera.

Compared with the prior art, the driving device for the cleaning robot provided by the invention at least has the following beneficial effects:

the driving wheel and the driven wheel on the same side are sleeved with the anti-slip crawler belt jointly, the left driving motor and the right driving motor are started to drive the driving wheel and the driven wheel to rotate respectively through the bearings, the anti-slip crawler belt is driven to rotate, the whole driving device is moved, the friction force between the anti-slip crawler belt and the solar panel can be increased through the set anti-slip crawler belt, the cleaning robot is prevented from sliding off the solar panel, meanwhile, the friction force between the anti-slip crawler belt and the solar panel can be further increased through the first anti-slip groove and the second anti-slip groove which are arranged on the outer side of the anti-slip crawler belt, and the stability of the cleaning machine in the cleaning process is ensured.

The hanging devices are arranged at the opposite positions of the two sides of the mounting frame, after the mounting frame is mounted, the hanging devices are located between the driving wheels and the driven wheels, the hanging devices are in contact with the inner bottoms of the anti-skid tracks, the hanging devices can ensure that when the cleaning robot encounters a bulge, the rest parts of the anti-skid tracks are still in contact with the solar panel, the cleaning effect is ensured, and the cleaning robot is further prevented from sliding off the solar panel.

The distance between the driving device and the side of the solar panel and the advancing direction can be determined by means of the distance sensor, so that the cleaning robot is helped to make a correct decision and navigate to the target position, collision with obstacles is avoided, and falling from the edge of the solar panel in the running process is avoided. The walking angle and the rotating speed of the driving device can be determined through the gyroscope, so that the cleaning robot is helped to sense the direction and the position of the cleaning robot; the camera arranged can collect image information on the solar panel, identify and analyze various characteristics in a scene, such as lines, edges, colors and the like of the solar panel, ensure a walking path of the cleaning robot, and further avoid the cleaning robot from falling from the edges of the solar panel. Through the cooperation of distance sensor, gyroscope and camera, can ensure that cleaning robot walks through whole solar panel, cleans every region on the solar panel, improves and cleans effect and efficiency.

Drawings

For a clearer description of the technical solutions of the present application, the drawings that are required to be used in the embodiments will be briefly described, and it will be obvious to those skilled in the art that other drawings can be obtained from these drawings without making any effort.

Fig. 1 is a schematic structural diagram of a driving device for a cleaning robot according to an embodiment of the present disclosure;

fig. 2 is an exploded view of a driving device for a cleaning robot according to an embodiment of the present application;

FIG. 3 is a schematic view of a mounting frame according to an embodiment of the present disclosure;

fig. 4 is a top view of a driving device for a cleaning robot according to an embodiment of the present disclosure;

fig. 5 is a sectional view of a driving device H-H for a cleaning robot according to an embodiment of the present application;

fig. 6 is a sectional view of a driving device K-K for a cleaning robot according to an embodiment of the present application;

fig. 7 is a schematic structural diagram of a suspension device according to an embodiment of the present application;

FIG. 8 is an exploded view of a suspension device according to an embodiment of the present application;

fig. 9 is a use state diagram of a driving device for a cleaning robot according to an embodiment of the present application;

fig. 10 is a use state diagram of another driving device for a cleaning robot according to an embodiment of the present disclosure;

fig. 11 is a block diagram of a control system of a driving device for a cleaning robot according to an embodiment of the present application;

in the figure: 1. a left side plate; 2. a tail plate; 3. a right side plate; 4. a front side plate; 5. a left driving motor; 6. a right drive motor; 7. an anti-skid track; 70. a first anti-slip groove; 71. a second anti-slip groove; 8. a driving wheel; 9. a left guard board; 10. a right guard board; 11. driven wheel; 12. a cover plate; 13. a suspension device; 14. a handle; 15. a sensor holder; 16. a distance sensor; 17. a button mounting plate; 18. a button; 19. a battery; 20. controlling the box cover; 21. a control box; 22. a gyroscope; 23. a control board mounting plate; 24. a control board; 25. a camera mount; 26. a camera; 27. a positioning pin; 28. a bottom plate; 29. a fastening screw; 30. a driving wheel supporting seat; 31. a bearing; 32. a bearing retainer ring; 33. a driving wheel gland; 34. the driven wheel fixing seat; 35. a partition plate; 36. a bearing wheel frame; 360. a horizontal bar; 361. the first bearing connecting plate; 3610. a first boss; 362. the second bearing connecting plate; 3620. a second protruding portion; 37. a bearing wheel; 38. a bearing wheel shaft; 39. a circlip; 40. a tension spring; 41. a hook; 42. a limiting shaft; 50. a photovoltaic panel I; 52. and a photovoltaic panel II.

Detailed Description

In order to better understand the technical solutions in the present application, the following description will be made in detail with reference to the accompanying drawings.

The utility model provides a core is to provide a cleaning robot is with drive arrangement, can solve current cleaning robot and follow solar panel easily and fall from solar panel edge easily, can not be covered with whole solar panel when cleaning, can leave a large amount of spaces that cannot clean, influences the problem of cleaning effect.

Fig. 1 is a schematic structural diagram of a driving device for a cleaning robot provided in an embodiment of the present application, fig. 2 is an exploded structural diagram of a driving device for a cleaning robot provided in an embodiment of the present application, fig. 3 is a schematic structural diagram of an installation frame provided in an embodiment of the present application, fig. 4 is a top view of a driving device for a cleaning robot provided in an embodiment of the present application, fig. 5 is a sectional view of a driving device H-H for a cleaning robot provided in an embodiment of the present application, fig. 6 is a sectional view of a driving device K-K for a cleaning robot provided in an embodiment of the present application, fig. 7 is a schematic structural diagram of a hanging device provided in an embodiment of the present application, fig. 8 is an exploded structural diagram of a hanging device provided in an embodiment of the present application, fig. 9 is a state diagram of a driving device for a cleaning robot provided in an embodiment of the present application, fig. 10 is a state of another driving device for a cleaning robot provided in an embodiment of the present application, fig. 11 is a control system for a driving device for a cleaning robot provided in an embodiment of the present application, and fig. 1 to 11 are referred to fig. 11.

Example 1

The utility model provides a cleaning machines people uses drive arrangement, includes the installing frame, is located the drive wheel 8 of installing frame both sides and is located the driven wheel 11 of installing frame both sides, and the shape and the size of installing frame all can be confirmed according to actual conditions, realizes the installation fixed to whole device through the installing frame, specifically is provided with two drive wheels 8 and two driven wheels 11, and two drive wheels 8 and two driven wheels 11 divide to establish in the both sides of installing frame equally. The power supply module, the driving wheel supporting seat 30 and the driven wheel fixing seat 34 are fixed in the mounting frame, the whole device is powered through the power supply module, the bearing 31 and the bearing retainer ring 32 are fixed on the driving wheel supporting seat 30 and the driven wheel fixing seat 34, the bearing retainer ring 32 is sleeved on the inner ring of the bearing 31 and is fixed on the driving wheel supporting seat 30 and the driven wheel fixing seat 34 through bolts, the bearing 31 is fixed in the axial direction through the arranged bearing retainer ring 32, the bearing 31 is prevented from moving in the axial direction, and the mounting and use stability of the driving wheel 8 and the driven wheel 11 is improved.

The driving wheel supporting seat 30 is provided with a left driving motor 5 and a right driving motor 6 which are fixed with corresponding bearings 31 (namely, the bearings 31 connected with the driving wheels 8), the driving wheels 8 and the driven wheels 11 are respectively and fixedly connected with the end parts of the corresponding bearings 31, the driving wheels 8 on the left side of the installation frame are driven to rotate by the left driving motor 5, and the driving wheels 8 on the right side of the installation frame are driven to rotate by the right driving motor 6. One end shaft of the driving wheel 8 is connected with a driving wheel gland 33, one end shaft of the driven wheel 11 is connected with a cover plate 12, the driving wheel 8 on the same side and the driven wheel 11 are sleeved with the anti-skid crawler belt 7 together, the driven wheel 11 rotates along with the rotation of the driving wheel 8, and the anti-skid crawler belt 7 is driven to rotate and run to drive the whole device to walk. Since the length of the anti-skid tracks 7 and the distance between the driving wheel 8 and the driven wheel 11 are closely calculated, no tensioning device is required after the installation of the anti-skid tracks 7. And, the outer edge of the driving wheel gland 33 is higher than the driving wheel 8, and the outer edge of the cover plate 12 is higher than the driven wheel 11, namely, the outer edges of the driving wheel 8 and the driven wheel 11 are provided with flanges, so that the anti-skid crawler belt 7 can be ensured not to deviate from the driving wheel 8 and the driven wheel 11 in the running process, and the running stability of the anti-skid crawler belt 7 is ensured. The anti-skid crawler belt 7 ensures that the cleaning robot does not slide off the solar panel during operation. Meanwhile, a first anti-skid groove 70 is formed on the outer side of the anti-skid track 7 along the length direction of the anti-skid track, a second anti-skid groove 71 is formed along the width direction of the anti-skid track, the second anti-skid groove 71 is arranged in a meniscus shape and uniformly arranged on the anti-skid track 7, and a water film formed between the surface of the anti-skid track 7 and a solar panel can be broken, so that the anti-skid track 7 and the solar panel can be completely contacted; meanwhile, the first anti-slip grooves 70 can enable the molecular adhesive force in the surface adhesive layer of the water-soaked anti-slip crawler belt 7 to be larger than the cohesive force (capillary phenomenon can be generated due to the surface tension of liquid), so that the friction force between the surface of the anti-slip crawler belt 7 and the solar panel is greatly improved in the cleaning process, and further, the cleaning robot is ensured not to slide and slide from the solar panel in the running process. The friction force between the anti-skid crawler 7 and the solar panel can be further improved through the first anti-skid groove 70 and the second anti-skid groove 71, and the cleaning robot is ensured not to slide off the solar panel in the running process.

The installation frame in this embodiment, the driving wheel 8 and the driven wheel 11 can be made of materials such as pom (polymer plastics), so as to reduce the weight of the whole driving device, thereby reducing the risk of the cleaning robot sliding on a slope, increasing the stability and safety of the cleaning process, and simultaneously enabling the cleaning machine to be carried more lightly.

The hanging devices 13 are arranged at the opposite positions of the two sides of the installation frame, after the installation, the hanging devices 13 are positioned between the driving wheels 8 and the driven wheels 11, the hanging devices 13 are in contact with the inner bottoms of the anti-skid tracks 7, the bearing capacity and obstacle surmounting capacity of the driving devices can be guaranteed through the arranged hanging devices 13, the cleaning robot is guaranteed to be stable in posture when crossing obstacles such as bulges, the cleaning surface of the solar panel is guaranteed to be fully covered, and the cleaning efficiency is further improved. Distance sensors 16 are arranged on two sides of the mounting frame through guard plates, the distance sensors can be ultrasonic sensors, and the ultrasonic sensors can help the driving device to detect distance and direction, so that the cleaning robot is helped to make a correct decision and navigate to a target position, signals are timely sent to the control board 24, the robot is helped to make a correct decision, and collision with obstacles is avoided; in addition, the distance between the obstacle and the ultrasonic sensor can be calculated through the time delay of the ultrasonic sensor for transmitting the ultrasonic signal, and the operation safety of the cleaning robot is improved.

A partition board 35 is fixed on the mounting frame, one side of the partition board 35 is provided with a camera 26 through a camera bracket 25, the camera 26 can be a UVC camera, and the UVC camera can identify and analyze various characteristics in a scene, such as landmarks, edges, colors and the like, by collecting image information (namely silver lines on a solar panel) in the environment, so that the position and the direction of a driving device are perceived; the UVC camera can generate a three-dimensional environment map by continuously collecting image information in the environment, and the three-dimensional environment map comprises information such as the position, the size and the shape of an object, so that a basis is provided for navigation and path planning of a driving device; based on the position sensing and environment modeling information provided by the UVC camera, the driving device can conduct accurate navigation and positioning, achieve functions of autonomous movement, obstacle avoidance and the like, and improve the level of intellectualization and autonomy. A control box 21 is fixed on the partition 35, a gyroscope 22 and a control board 24 are installed in the control box 21, and the control board 24 is installed in the control box 21 through a control board mounting plate 23. The gyroscope 22 may alternatively be an IMU gyroscope that can be used to determine the angle and rotational speed of the drive device in three axes (x, y, z axes) to help the robot perceive its own direction and position. In the aspects of navigation and autonomous movement, particularly for complex dynamic environments, the IMU gyroscope can provide more accurate direction and position information, so that the positioning precision and the navigation capability of the cleaning robot are improved; the inclination angle and the rotation angular velocity of the driving device are measured in real time, feedback information is provided to help the driving device to correctly adjust the self posture, so that the cleaning robot can keep a balanced state, and dangerous situations such as toppling, falling and the like are avoided; by analyzing the data output by the IMU gyroscope, the motion control strategy of the driving device can be optimized, and the stability and dynamic performance of the driving device are improved, so that the driving device has higher flexibility and moving performance.

Example 2

On the basis of embodiment 1, in order to improve the mounting firmness of the mounting frame, it is preferable that the mounting frame includes a bottom plate 28 and left, tail, right, and front side plates 1, 2, 3, 4 fixed to the bottom plate 28, and the left, tail, right, and front side plates 1, 2, 3, 4 are fixed by positioning pins 27 and fastening screws 29. The whole installation frame can be ensured to be light in weight, high in strength and high in precision.

On the basis of embodiment 2, in order to achieve stability of the cleaning robot in obstacle crossing process and improve bearing capacity and obstacle crossing capacity of the cleaning robot, preferably, the suspension device 13 comprises a bearing wheel shaft 38 fixed on the left side plate 1 and the right side plate 3, a bearing wheel frame 36 is rotatably mounted on the bearing wheel shaft 38, a circlip 39 is arranged at a connection position of the bearing wheel shaft 38 and the bearing wheel frame 36, the circlip 39 is arranged to prevent the bearing wheel frame 36 from moving in axial direction, the bearing wheel frame 36 comprises a first bearing connecting plate 361 and a second bearing connecting plate 362 rotatably arranged on the bearing wheel shaft 38, a circlip 39 is arranged at a connection position of the first bearing connecting plate 361 and the bearing wheel shaft 38, and a circlip 39 is also arranged at a connection position of the second bearing connecting plate 362 and the bearing wheel shaft 38, so that axial movement of the first bearing connecting plate 361 and the second bearing connecting plate 362 in the rotating process can be effectively prevented. The installation of first bearing connecting plate 361 and second bearing connecting plate 362 is similar to the installation of scissors, pliers, and the lower extreme of first bearing connecting plate 361 and second bearing connecting plate 362 all is fixed with horizontal rod 360, all rotates at the both ends of horizontal rod 360 and installs bearing wheel 37, and after the installation, bearing wheel 37 offsets with the interior bottom side of anti-skidding track 7 and contacts, is connected with extension spring 40 between the upper end of first bearing connecting plate 361 and second bearing connecting plate 362. When the driving device encounters an obstacle and needs to pass through, at this time, the bearing wheel 37 at the corresponding position is forced to move upwards, and the horizontal rod 360 drives the corresponding first bearing connecting plate 361 or second bearing connecting plate 362 to rotate, so that the tension spring 40 is in a stretched state. The gravity of the cleaning robot when passing through the protrusions can be decomposed through the hanging device 13 in the embodiment, the contact area of the anti-skid track 7 and the solar panel is increased, the situation that after the anti-skid track 7 encounters the protrusions, the driving wheel 8 and the driven wheel 11 are suspended, impact force directly acts on the anti-skid track 7, damage is caused to the anti-skid track 7, and even the situation that the anti-skid track 7 is broken occurs is prevented. The obstacle crossing schematic diagram is shown in fig. 8, 50 represents a first photovoltaic panel, 52 represents a second photovoltaic panel, a bulge is arranged between the first photovoltaic panel 50 and the second photovoltaic panel 52, and when the driving device passes over the bulge, the movement track of the bearing wheel 37 of the suspension device 13 is shown as a dotted circle.

On the basis of embodiment 2, in order to prevent the first bearing connecting plate 361 and the second protruding portion 3620 from approaching each other during the rotation of the first bearing connecting plate 361 or the second protruding portion 3620 and damaging the anti-skid track 7, preferably, the first bearing connecting plate 361 is further provided with the first protruding portion 3610, the second bearing connecting plate 362 is further provided with the second protruding portion 3620, the first protruding portion 3610 is fixed with the limiting shaft 42, and one end of the limiting shaft 42 is located at the recess formed by the second protruding portion 3620 and the second bearing connecting plate 362. The limiting shaft 42 can effectively prevent the first bearing connecting plate 361 and the second protruding portion 3620 from rotating in the same direction and approaching each other.

In the present embodiment, in order to achieve the connection and installation convenience of the tension spring 40, it is preferable that one end of the tension spring 40 is fixedly connected with the upper end of the bearing wheel frame 36, and the other end of the tension spring 40 is fixedly connected with the upper end of the bearing wheel frame 36 through the hook 41. In this embodiment, the tension spring 40 is fixed on the first bearing connection plate 361, and the hook 41 is fixed on the second bearing connection plate 362.

On the basis of embodiment 2, in order to protect the outer side of the crawler belt 7 for cleaning robot, it is preferable that the guard plates include a left guard plate 9 fixed to the left side plate 1 and a right guard plate 10 fixed to the right side plate 3, the left guard plate 9 and the right guard plate 10 are covered on the crawler belt 7, and the distance sensor 16 is fixed to the lower sides of the left guard plate 9 and the right guard plate 10 by a sensor bracket 15. The distance sensor 16 is disposed close to the solar panel.

On the basis of embodiment 2, a driving device for a cleaning robot, a power supply module includes a quick-connect plug mounted in a mounting frame and a power supply battery 19 connected to the quick-connect plug. The power supply battery 19 is used as a power system of the driving device and provides power energy for the driving device, in actual use, if the battery electric quantity is monitored to be too low, the cleaning robot is controlled to return to the original point by the control board 24, an operator is reminded to replace a standby battery at the low point of the solar panel, the standby battery is quickly replaced by a quick plug-in connector (pluggable), the cruising ability of the driving device is guaranteed, the cleaning robot can continuously operate, and therefore the frequency of manual carrying of the cleaning robot is reduced, and the cleaning efficiency of the cleaning robot is improved.

In addition to embodiment 2, a driving device for a cleaning robot is also provided, and a handle 14 is fixed to the upper sides of the left side plate 1 and the right side plate 3. By carrying the cleaning robot by means of the handle 14 so as to move the cleaning robot from one position to another, the convenience of movement is improved.

On the basis of embodiment 2, a driving device for a cleaning robot preferably further includes a control handle electrically connected to the control board 24 for facilitating convenient control of the cleaning robot. The control handle is not shown in the figures.

The control board 24 is provided with a main control unit control and a sub control unit, wherein the main control unit controls and controls the sub control unit, the IMU gyroscope, the UVC camera and the handle controller; the sub-control unit respectively controls the left/right motor encoder, the left/right ultrasonic sensor and the left/right motor driver, and the rotation speed, the direction, the acceleration, the deceleration, the stopping and other operations of the left driving motor 5 and the right driving motor 6 are further precisely controlled through the control of the left/right motor encoder and the driver, so that the linear walking, the steering, the acceleration and the deceleration of the driving device are further precisely controlled.

According to the driving device for the cleaning robot, the anti-skid tracks 7 are sleeved on the driving wheel 8 and the driven wheel 11 on the same side, the left driving motor 5 and the right driving motor 6 are started to respectively drive the driving wheel 8 and the driven wheel 11 to rotate through the bearing 31, and then the anti-skid tracks 7 are driven to rotate, so that the whole driving device is moved, the friction force between the anti-skid tracks 7 and the solar panel can be increased through the arranged anti-skid tracks 7, the cleaning robot is prevented from sliding off the solar panel, and meanwhile, the friction force between the anti-skid tracks 7 and the solar panel can be further increased through the first anti-skid grooves 70 and the second anti-skid grooves 71 arranged on the outer sides of the anti-skid tracks 7, and the stability of the cleaning machine in the cleaning process is ensured.

The hanging devices 13 are arranged at opposite positions of two sides of the mounting frame, after the mounting frame is mounted, the hanging devices 13 are located between the driving wheel 8 and the driven wheel 11, the hanging devices 13 are in contact with the inner bottom side of the anti-skid crawler 7, the fact that when the cleaning robot encounters a bulge can be guaranteed through the hanging devices 13, the rest part of the anti-skid crawler 7 is still in contact with the solar panel, cleaning effect is guaranteed, and the cleaning robot is further prevented from sliding off the solar panel.

The distance between the driving device and the side of the solar panel and the travelling direction can be determined by means of the distance sensor 16, so that the cleaning robot can make a correct decision and navigate to a target position, collision with obstacles is avoided, and falling from the edge of the solar panel in the running process is avoided. The running angle and the rotating speed of the driving device can be determined through the gyroscope 22, so that the cleaning robot is helped to sense the direction and the position of the cleaning robot; the camera 26 can collect image information on the solar panel, identify and analyze various characteristics in the scene, such as solar panel lines, edges, colors and the like, ensure a walking path of the cleaning robot, and further prevent the cleaning robot from falling from the edges of the solar panel. Through the cooperation of the distance sensor 16, the gyroscope 22 and the camera 26, the cleaning robot can be ensured to walk through the whole solar panel, each area on the solar panel is cleaned, and the cleaning effect and efficiency are improved.

Replace the manual work to carry out solar panel's cleaning work, reduce the cost of labor, improve clean efficiency and application range. The problems of the existing solar panel cleaning robot that the power is insufficient, the friction force is small, the climbing is difficult, the cleaning efficiency is low, the maintenance is difficult and the like are solved, the cleaning cost is reduced, and the automation and intelligence degree of the cleaning robot is improved.

Other embodiments of the present application will be apparent to those skilled in the art from consideration of the specification and practice of the application disclosed herein. This application is intended to cover any variations, uses, or adaptations of the application following, in general, the principles of the application and including such departures from the present disclosure as come within known or customary practice within the art to which the application pertains. It is intended that the specification and examples be considered as exemplary only, with a true scope of the application being indicated by the following claims.

It is to be understood that the present application is not limited to the precise arrangements and instrumentalities shown in the drawings, which have been described above, and that various modifications and changes may be effected without departing from the scope thereof. The above-described embodiments of the present application are not intended to limit the scope of the present application.

Claims (10)

1. A drive device for a cleaning robot, comprising:

the device comprises a mounting frame, a driving wheel (8) positioned at two sides of the mounting frame and a driven wheel (11) positioned at two sides of the mounting frame, wherein a power supply module, a driving wheel supporting seat (30) and a driven wheel fixing seat (34) are fixed in the mounting frame, a bearing (31) and a bearing retainer ring (32) are fixed on the driving wheel supporting seat (30) and the driven wheel fixing seat (34), the bearing retainer ring (32) is sleeved on the bearing (31), a left driving motor (5) and a right driving motor (6) which are fixed with the corresponding bearing (31) are arranged on the driving wheel supporting seat (30), the driving wheel (8) and the driven wheel (11) are fixedly connected with the end parts of the corresponding bearing (31), a gland (33) is connected with one end shaft of the driving wheel (8), a cover plate (12) is connected with one end shaft of the driven wheel (11), anti-skid tracks (7) are sleeved on the driving wheel (8) and the driven wheel (11) on the same side, a first groove is arranged on the outer side of the anti-skid track (7) along the length direction of the driving wheel supporting seat, a second groove is arranged on the first groove along the width direction of the driving wheel supporting seat, a second groove is arranged between the two sides of the driving wheel (11) and the two opposite sides of the driving wheel (13) are arranged on the driving wheel supporting seat (13), and linkage (13) with the interior bottom of anti-skidding track (7) is inconsistent, the both sides of installing the frame are provided with distance sensor (16) through the backplate, be fixed with baffle (35) on the installing frame, camera (26) are installed to one side of baffle (35), be fixed with control box (21) on baffle (35), install gyroscope (22) and control panel (24) in control box (21).

2. The drive device for a cleaning robot according to claim 1, wherein the mounting frame includes a bottom plate (28) and a left side plate (1), a tail plate (2), a right side plate (3) and a front side plate (4) fixed to the bottom plate (28), and the left side plate (1), the tail plate (2), the right side plate (3) and the front side plate (4) are fixed by a positioning pin (27) and a fastening screw (29).

3. The driving device for a cleaning robot according to claim 2, wherein the suspension device (13) comprises a bearing wheel shaft (38) fixed on the left side plate (1) and the right side plate (3), a bearing wheel frame (36) is rotatably installed on the bearing wheel shaft (38), a circlip (39) is arranged at a connection position of the bearing wheel shaft (38) and the bearing wheel frame (36), the bearing wheel frame (36) comprises a first bearing connecting plate (361) and a second bearing connecting plate (362) rotatably arranged on the bearing wheel shaft (38), horizontal rods (360) are fixed at lower ends of the first bearing connecting plate (361) and the second bearing connecting plate (362), bearing wheels (37) are rotatably installed at two ends of the horizontal rods (360), the bearing wheels (37) are in contact with inner bottom sides of the anti-skid tracks (7), and tension springs (40) are connected between upper ends of the first bearing connecting plate (361) and the second bearing connecting plate (362).

4. A driving device for a cleaning robot according to claim 3, wherein the first load-bearing connecting plate (361) is further provided with a first protruding portion (3610), the second load-bearing connecting plate (362) is further provided with a second protruding portion (3620), the first protruding portion (3610) is fixedly provided with a limiting shaft (42), and one end of the limiting shaft (42) is located at a recess formed by the second protruding portion (3620) and the second load-bearing connecting plate (362).

5. The driving device for a cleaning robot according to claim 4, wherein one end of the tension spring (40) is fixedly connected to an upper end of the bearing wheel frame (36), and the other end of the tension spring (40) is fixedly connected to an upper end of the bearing wheel frame (36) through a hook (41).

6. The drive device for a cleaning robot according to claim 2, wherein the guard plates include a left guard plate (9) fixed to the left side plate (1) and a right guard plate (10) fixed to the right side plate (3), the left guard plate (9) and the right guard plate (10) are covered on the anti-slip crawler (7), and the distance sensor (16) is fixed to the lower sides of the left guard plate (9) and the right guard plate (10) through a sensor bracket (15).

7. The drive device for a cleaning robot according to claim 2, wherein the power supply module includes a quick-connect plug mounted in the mounting frame and a power supply battery (19) connected to the quick-connect plug.

8. The drive device for a cleaning robot according to claim 2, wherein a handle (14) is further fixed to the upper sides of the left side plate (1) and the right side plate (3).

9. The drive device for a cleaning robot according to claim 2, further comprising a control handle electrically connected to the control board (24).

10. The drive device for a cleaning robot according to claim 2, characterized in that the camera (26) is a UVC camera.