CN219426791U - Large-span cleaning robot - Google Patents

Abstract

The utility model is applicable to the technical field of photovoltaic cleaning devices, and provides a large-span cleaning robot, which comprises: a cleaning assembly; the first walking assembly is respectively arranged at two ends of the cleaning assembly and comprises at least two first walking wheels respectively arranged at two sides of the end part of the cleaning assembly, and the first walking wheels positioned at the same side and positioned at two ends of the cleaning assembly are in transmission connection through a first power transmission assembly; the second walking components are oppositely arranged at two sides of the first walking component and comprise at least one second walking wheel, and the second walking wheels which are positioned at the same side and are positioned at two ends of the cleaning component are in transmission connection through a second power transmission component; the middle transmission assembly is arranged on the cleaning assembly and is respectively connected with the first power transmission assembly and the second power transmission assembly in a transmission way so as to drive the second travelling wheel to rotate; when the center of gravity of the first travelling wheel assembly is located at the edge of the first photovoltaic plate, the second travelling wheel close to the edge is located on the second photovoltaic plate adjacent to the first photovoltaic plate.

Description

Large-span cleaning robot

Technical Field

The utility model belongs to the technical field of photovoltaic panel cleaning devices, and particularly relates to a large-span cleaning robot.

Background

Photovoltaic power stations are power stations that convert solar radiation energy into electrical energy by means of solar cell arrays, and are installed outdoors, and are therefore susceptible to environmental pollution and to the effects of power generation, for example, dust pollution. Based on the above, the photovoltaic panel cleaning robot is applied, and the cleaning operation such as intelligent dust removal, snow removal and the like of the photovoltaic module can be realized through the photovoltaic panel cleaning robot.

At present, due to the restriction factors such as land and price of a photovoltaic module thereof, a photovoltaic power station gradually starts to be built by a flat single-shaft tracking bracket. The length that single flat unipolar can be built is approximately 90 meters in general, and the power station is in order to reduce photovoltaic module's cleaning cost, and flat unipolar tracking support all can link into 1 ~ 2 KM's long row, and such a long row can clean with only one cleaning robot.

However, some flat single shafts have a large interval, for example, about 400mm, and because some flat single shaft tracking brackets are composed of many groups of such intervals, when cleaning is performed by using a photovoltaic cleaning robot, the cleaning machine itself cannot span such a large interval due to the limited span of the photovoltaic cleaning robot. Thus, it is often necessary to design the bridge at the gap to allow the photovoltaic cleaning robot to move through the bridge onto other photovoltaic panels, but designing the bridge requires a corresponding increase in material and installation costs.

Disclosure of Invention

The present utility model provides a long span cleaning robot to solve at least to some extent the above-mentioned drawbacks of the related art.

The utility model is realized in that a large-span cleaning robot comprises:

a cleaning assembly;

the first walking assembly is respectively arranged at two ends of the cleaning assembly and comprises at least two first walking wheels respectively arranged at two sides of the end part of the cleaning assembly, and the first walking wheels which are positioned at the same side and are positioned at two ends of the cleaning assembly are in transmission connection through a first power transmission assembly;

the second walking components are oppositely arranged at two sides of the first walking component, each second walking component comprises at least one second walking wheel, and the second walking wheels which are positioned at the same side and are positioned at two ends of the cleaning component are in transmission connection through a second power transmission component;

the middle transmission assembly is arranged on the cleaning assembly and is respectively in transmission connection with the first power transmission assembly and the second power transmission assembly so as to drive the second travelling wheel to rotate;

when the center of gravity of the first travelling assembly is located at the edge of the first photovoltaic panel, the second travelling wheel close to the edge is located on the second photovoltaic panel adjacent to the first photovoltaic panel.

In an embodiment, the robot further comprises:

the first traveling wheel is arranged on the first span plate structure, and a preset distance is reserved between the second traveling wheel and the first traveling wheel.

In one embodiment, the first travel assembly further comprises: at least two first deviation correcting wheels which are oppositely arranged at the bottom of the first travelling assembly; the second walking assembly further comprises at least two second deviation correcting wheels which are respectively and oppositely arranged on the structures of the different span plates.

In an embodiment, the roller brush comprises a first section cleaning assembly and a second section cleaning assembly, and the intermediate transmission assembly is arranged between the first section cleaning assembly and the second section cleaning assembly.

In one embodiment, the intermediate transmission assembly includes:

the fixed seat is provided with a first transmission shaft, and two ends of the first transmission shaft are respectively in transmission connection with the first section cleaning assembly and the second section cleaning assembly;

the two ends of the second transmission shaft are respectively in transmission connection with the first power transmission assembly;

the second transmission shaft is arranged on one side of the second transmission shaft away from the first transmission shaft, two ends of the third transmission shaft are respectively in transmission connection with the second power transmission assembly, and the second transmission shaft is in transmission connection with the third transmission shaft through a transmission chain.

In one embodiment, the transmission assembly further comprises:

the second span plates are respectively arranged on two sides of the fixed seat, and are provided with mounting grooves and chain covers for sealing the transmission chains in the mounting grooves.

In one embodiment, the intermediate transmission assembly further comprises:

the first middle travelling wheel is arranged on the second transmission shaft, and the second middle travelling wheel is arranged on the third transmission shaft.

In an embodiment, the first travelling assembly comprises a mounting seat, the first travelling wheel is mounted on the mounting seat, the cleaning assembly comprises a roller brush shaft and bristles arranged on the periphery of the roller brush shaft, and two end parts of the roller brush shaft are connected to the mounting seat of the first travelling assembly through universal joints.

In an embodiment, the robot further comprises:

the connecting shaft is used for connecting the mounting seats of the first travelling assemblies arranged at the two ends of the cleaning assembly in a relatively rotatable manner, so that the first travelling assemblies at the two ends of the cleaning assembly simultaneously travel on two surfaces with different inclination angles.

In an embodiment, the robot includes:

the first driving device is movably connected with the first travelling wheel to drive the first travelling wheel to rotate;

and the second driving device is movably connected with the roller brush shaft to drive the roller brush to rotate.

The utility model also provides a long-span cleaning robot, comprising: a cleaning assembly; the first walking assembly is respectively arranged at two ends of the cleaning assembly and comprises at least two first walking wheels respectively arranged at two sides of the end part of the cleaning assembly, and the first walking wheels which are positioned at the same side and are positioned at two ends of the cleaning assembly are in transmission connection through a first power transmission assembly; the second walking components are oppositely arranged at two sides of the first walking component, each second walking component comprises at least one second walking wheel, and the second walking wheels which are positioned at the same side and are positioned at two ends of the cleaning component are in transmission connection through a second power transmission component; the middle transmission assembly is arranged on the cleaning assembly and is respectively in transmission connection with the first power transmission assembly and the second power transmission assembly so as to drive the second travelling wheel to rotate; when the center of gravity of the first travelling assembly is located at the edge of the first photovoltaic panel, the second travelling wheel close to the edge is located on the second photovoltaic panel adjacent to the first photovoltaic panel. In this application embodiment, through intermediate drive, pass through first power transmission component with the power of first walking wheel and give second power transmission component to drive this second walking wheel through this second power transmission component and rotate, thereby realize the synchronous motion of first walking wheel and second walking wheel, can guarantee when crossing the interval between the adjacent photovoltaic board, no matter can both have two at that position to walk the wheel and provide power on the photovoltaic board, and overall structure is simple, and need not the preparation crane span structure and can span the interval between the adjacent photovoltaic board.

Drawings

Fig. 1 is a schematic diagram of the overall structure of a long-span cleaning robot according to an embodiment of the present disclosure;

fig. 2 is a schematic diagram of the overall structure of a long-span cleaning robot according to the embodiment of the present application;

FIG. 3 is a schematic view of an intermediate transmission assembly according to an embodiment of the present disclosure;

FIG. 4 is an exploded view of an intermediate drive assembly provided in an embodiment of the present application;

fig. 5 is a schematic structural diagram of a first walking assembly and a second walking assembly according to an embodiment of the present disclosure;

FIG. 6 is an exploded view of a first travel assembly provided in an embodiment of the present application;

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

1, a cleaning assembly; 2 a first travel assembly; 3. a first power transmission assembly; 4. a second travelling wheel; 5. a second power transmission assembly; 6. an intermediate transmission assembly; 7. a first span plate structure; 8. a connecting shaft; 9. a first driving device; 10. the second driving device, 11, the first section cleans the assembly; 12. a second section cleaning assembly; 21. a first traveling wheel; 23. a first deviation correcting wheel; 221. a cover body; 222. a first bracket; 31. a first section power transmission assembly; 32. a second section power transmission assembly; 41. a second travelling wheel; 42. a second deviation correcting wheel; 51. a third section of power transmission assembly; 52. a fourth stage power transmission assembly; 61. a fixing seat; 62. a first drive shaft; 63. a second drive shaft; 64. a third drive shaft; 65. a second span plate; 66. a drive chain; 67. a first intermediate road wheel; 68. a second intermediate traveling wheel; 631. a first gear; 641. a second gear; 651. a mounting groove; 652. a chain cover; 91. a drive shaft; 92. a third gear member; 93. a fourth gear member; 94. an output shaft.

Detailed Description

The present utility model will be described in further detail with reference to the drawings and examples, in order to make the objects, technical solutions and advantages of the present utility model more apparent. It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the scope of the utility model.

In the description of the present utility model, it should be understood that the terms "longitudinal," "radial," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," and the like indicate orientations or positional relationships that are based on the orientation or positional relationships shown in the drawings, merely to facilitate describing the present utility model and simplify the description, and do not indicate or imply that the devices or elements referred to must have a specific orientation, be configured and operated in a specific orientation, and thus should not be construed as limiting the present utility model. In the description of the present utility model, unless otherwise indicated, the meaning of "a plurality" is two or more.

In the description of the present utility model, it should be noted that, unless explicitly specified and limited otherwise, the terms "mounted," "connected," and "connected" are to be construed broadly, and may be either fixedly connected, detachably connected, or integrally connected, for example; can be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium, and can be communication between two elements. The specific meaning of the above terms in the present utility model will be understood in specific cases by those of ordinary skill in the art.

With reference to fig. 1 and 2, the present utility model provides a long-span cleaning robot, comprising: a cleaning assembly 1; the first walking assembly 2 is respectively arranged at two ends of the cleaning assembly 1, the first walking assembly 2 comprises at least two first walking wheels 21 respectively arranged at two sides of the end part of the cleaning assembly 1, and the first walking wheels 21 positioned at the same side and positioned at two ends of the cleaning assembly 1 are in transmission connection through a first power transmission assembly 3; the second walking assemblies 4 are oppositely arranged at two sides of the first walking assembly 2, the second walking assemblies 4 comprise at least one second walking wheel 41, and the second walking wheels 41 positioned at the same side and positioned at two ends of the cleaning assembly 1 are in transmission connection through a second power transmission assembly 5; the middle transmission assembly 6 is arranged on the cleaning assembly 2, and the middle transmission assembly 6 is respectively connected with the first power transmission assembly 3 and the second power transmission assembly 5 in a transmission way so as to drive the second travelling wheel 41 to rotate; when the center of gravity of the first travelling wheel assembly 2 is located at the edge of a first photovoltaic panel, a second travelling wheel 41 near the edge is located on a second photovoltaic panel adjacent to the first photovoltaic panel. In this application embodiment, through intermediate drive, pass through first power transmission component with the power of first walking wheel and give second power transmission component to drive this second walking wheel through this second power transmission component and rotate, thereby realize the synchronous motion of first walking wheel and second walking wheel, can guarantee when crossing the interval between the adjacent photovoltaic board, no matter can both have two at that position to walk the wheel and provide power on the photovoltaic board, and overall structure is simple, and need not the preparation crane span structure and can span the interval between the adjacent photovoltaic board. And provide power to the second walking wheel through middle drive assembly, need not to all set up a motor to every walking wheel and drive, can save power cost, and connect through drive assembly transmission between the different walking wheels, can make overall structure more stable.

Wherein, this large-span cleans robot can be used to clean photovoltaic solar panel.

Wherein the cleaning robot further comprises a power supply assembly (not shown in the figure) for providing electric power to the respective electric devices in the cleaning robot. The power supply component can be a battery pack, and the battery pack can be charged through an external power supply.

The first travelling wheels 21 at two ends of the cleaning assembly 1 and the first power transmission assembly 3 can be connected by a universal joint, and the second travelling wheels 41 at two ends of the cleaning assembly 1 and the second power transmission assembly 5 can also be connected by a universal joint. The universal joint is adopted for connection, so that when the robot is twisted, the robot can be ensured to keep certain rigidity, and meanwhile, the transmission of power is not affected.

Referring to fig. 1, in an embodiment of the present application, the cleaning robot includes: the first span plate structures 7 are respectively and oppositely arranged at two sides of the first travelling assembly, and the second travelling wheels 41 are arranged on the first span plate structures 7 and are spaced from the first travelling wheels 21 by a preset distance. Specifically, the first traveling assembly 2 may include a mounting base, the first span plate structure 7 is respectively mounted on the left and right sides of the mounting base to increase the width of the cleaning robot, thereby increasing the span of the cleaning robot, and the second traveling wheel 41 is mounted on a side of the first span plate structure 7 far away from the mounting base, so that the cleaning robot forms the second traveling wheel 41 which is arranged in bilateral symmetry.

The first span plate structure 7 may be made of sheet metal material or die cast. The first span structure 7 can be detachably connected with the mounting base by bolts (not shown).

The preset distance may be greater than the interval distance between the photovoltaic panels, for example, the interval distance is 400mm, and the preset distance is greater than 400mm, which is specifically set according to the interval between the actual photovoltaic panels, which is not limited herein. Through setting up this preset distance, can guarantee when the focus of first walking subassembly 2 still is in first piece photovoltaic board edge, this first walking subassembly 2 is close to the second walking wheel of this interval and has already walked on the adjacent second photovoltaic board, can avoid cleaning robot drop or lose the focus. It should be noted that, the distance between the second travelling wheel 41 and the first travelling wheel 21 can be adjusted, i.e. the width of the first span plate structure 7 can be changed to adjust, or the setting position of the second travelling wheel on the first span plate structure 7 can be adjusted to adjust the preset distance.

In an embodiment of the present application, the width of the mounting base can be widened, and the second travelling wheel 41 can be installed at two ends of the widened mounting base, so as to directly widen the width of the mounting base, thereby providing the width of the cleaning robot and further improving the span of the cleaning robot.

In this embodiment of the present application, through setting up the second walking assembly 4 respectively in the both sides of first walking assembly 2 to, when first walking assembly 2 operates, it can drive first power transmission assembly 3 and rotate, can further drive this second power transmission assembly 5 through this first power transmission assembly 3 through this intermediate drive assembly 6 and rotate, and then drive this second walking assembly 4 and this first walking assembly 2 synchronous rotation through this second power transmission assembly 5, realize cleaning robot's walking, it can be understood that because there is certain distance between this second walking assembly and this first walking assembly 2, consequently, can widen this cleaning robot's whole width, when running to the edge of photovoltaic board, this cleaning robot can continue to operate, this moment this cleaning robot is located this edge's second walking assembly can cross this interval, operate to another adjacent photovoltaic board on, and continue to operate, no matter can have at least two walking wheels to provide power on the photovoltaic board in that position, therefore this cleaning robot can complete cross this interval.

Referring to fig. 5 and 6, in this embodiment of the present application, the first traveling assembly 2 further includes at least two first deviation correcting wheels 23 disposed opposite to the bottom of the first traveling assembly 2. The second traveling assembly 4 further includes at least two second deviation rectifying wheels 42 respectively oppositely disposed on the different span plate structures 7. By providing the first deviation rectifying wheel 23 and the second deviation rectifying wheel 42 to roll along the side wall of the photovoltaic panel bracket, the cleaning robot can be prevented from deviating from the cleaning track.

The first deviation correcting wheel 23 may be an elongated deviation correcting wheel, and may be better adapted to a scene where the cleaning angle is an oblique angle.

In the embodiment of the present application, the cleaning assembly 1 includes a first section cleaning assembly 11 and a second section cleaning assembly 12, and the intermediate transmission assembly 6 is disposed between the first section cleaning assembly 111 and the second section cleaning assembly 12. The first section cleaning component 11 and the second section cleaning component 12 are respectively arranged on the mounting seats of the first travelling components 2 at two ends at one end far away from the middle transmission component 6, and the first section cleaning component 11 and the second section cleaning component 12 are in transmission connection through the middle transmission component 6, so that the first section cleaning component 11 and the second section cleaning component 12 can normally rotate.

With reference to fig. 3 and 4, in the embodiment of the present application, the intermediate transmission assembly 6 includes: the fixed seat 61 is provided with a first transmission shaft 62, and two ends of the first transmission shaft 62 are respectively in transmission connection with the first section cleaning assembly 11 and the second section cleaning assembly 12; the second transmission shafts 63 are oppositely arranged at two sides of the first transmission shaft 62, and two ends of the second transmission shaft 63 are respectively in transmission connection with the first power transmission assembly 3; the third transmission shaft 64 is oppositely arranged at one side of the second transmission shaft 63 far away from the first transmission shaft 62, two ends of the third transmission shaft 64 are respectively in transmission connection with the second power transmission assembly 5, and the second transmission shaft 63 is in transmission connection with the third transmission shaft 64 through a transmission chain 65.

With reference to fig. 2, it can be understood that the first power transmission assembly 3 may be divided into two sections, namely a first section of power transmission assembly 31 and a second section of power transmission assembly 32, and then two ends of the second transmission shaft 63 may be in transmission connection with the first section of power transmission assembly 31 and the second section of power transmission assembly 32 respectively, and one ends of the first section of power transmission assembly 31 and the second section of power transmission assembly 32 far from the second transmission shaft 63 may be in transmission connection with the first travelling wheels disposed at two ends of the cleaning assembly 1 respectively. And the second power transmission assembly 5 may be divided into two sections, namely, a third section power transmission assembly 51 and a fourth section power transmission assembly 52, and then, two ends of the third transmission shaft 64 may be respectively connected with the third section power transmission assembly 51 and the fourth section power transmission assembly 52 in a transmission manner, and one ends of the third section power transmission assembly 51 and the fourth section power transmission assembly 52 far away from the third transmission shaft 63 may be respectively connected with the second travelling wheels 41 disposed at two ends of the cleaning assembly 1 in a transmission manner. And further, the first traveling wheel 21, the first power transmission assembly 3, the intermediate transmission assembly 6 and the second power transmission assembly 5 are combined to form a transmission mechanism, so that the second traveling wheel 41 rotates synchronously with the first traveling wheel 21.

The first power transmission assembly 3 and the second power transmission assembly 5 may be universal joint transmission shafts, the first travelling wheel 21 and the first power transmission assembly 3 may be connected by universal joints, and the second travelling wheel 41 may also be connected with the second power transmission assembly 5 by universal joints. Correspondingly, the first power transmission assembly 3 and the second transmission shaft 63 can also be connected by a universal joint transmission, and the second power transmission assembly 5 and the third transmission shaft 64 can also be connected by a universal joint transmission.

With reference to fig. 5 and fig. 6, in an embodiment of the present application, the intermediate transmission assembly further includes: the second span plates 65 are respectively disposed on two sides of the fixing base 61, and the second span plates 65 are provided with mounting grooves 651 and chain covers 652 mounted on the second span plates 65 to seal the transmission chains 66 in the mounting grooves 651. The chain cover 652 can be in sealing fit with the mounting groove 651, so that the transmission chain 66 can be prevented from being directly exposed to the air, and the gear set is easy to be stained with dust, so that the abrasion is caused, and the service life can be effectively prolonged.

Wherein the chain cage 652 and the second span plate 65 may be fixedly assembled together by bolts (not shown).

Further, the second transmission shaft 63 is provided with a first gear 631, the third transmission shaft 64 is provided with a second gear 641, the transmission chain 66 is provided on the first gear 631 and the second gear 632, and the transmission is realized by the cooperation of the first gear 631 and the second gear 64.

The fixing base 61 may include an upper cover 611 and a second bracket 612, and the first transmission shaft 63 may be mounted on the second bracket 612.

In the embodiment of the application, the first cleaning assembly 11 and the second cleaning assembly 12 are respectively disposed between the fixing base 61 and the mounting base, and are respectively connected with the fixing base 61 and the mounting base through universal joints, so that when the middle travelling wheel and the first travelling wheel and the second travelling wheel are in a torsion state, the cleaning assembly can still normally rotate.

With reference to fig. 5 and 6, in an embodiment of the present application, the intermediate transmission assembly 6 further includes: a first intermediate traveling wheel 67 provided on the second transmission shaft 63, and a second intermediate traveling wheel 68 provided on the third transmission shaft 64. The first middle travelling wheel 67 can synchronously rotate with the first travelling wheel 21 and the second travelling wheel 41 under the driving of the second transmission shaft 63, and the second middle travelling wheel 68 can synchronously rotate with the first travelling wheel 21 and the second travelling wheel 41 under the driving of the third transmission shaft 63, so that the front rolling in the middle frame of the photovoltaic panel is realized, the travelling is realized together with the first travelling wheel 21 and the second travelling wheel 41, and the travelling stability can be improved.

In this embodiment, the mounting base includes a cover 221 and a first bracket 222, the first travelling wheel 21 is mounted on the first bracket 222, the cleaning component 1 may be a roller brush, which may include a roller brush shaft, and bristles (not shown in the drawing) disposed on the periphery of the roller brush shaft, where two ends of the roller brush shaft are connected to the mounting base of the first travelling component 2 through universal joints.

The first traveling wheel may be mounted on the first bracket 222, and assembled with the first bracket 222 through the cover 221, so as to avoid the internal structure of the first traveling assembly 2 from being directly exposed to air, thereby improving the aesthetic property and protecting the internal structure.

Wherein the cover 221 and the first bracket 222 (not shown) may be fixedly assembled together by bolts.

With reference to fig. 1 and fig. 2, further, the robot further includes: the connecting shaft 8 connects the mounting seats of the first travelling assemblies 2 arranged at the two ends of the cleaning assembly 1 in a relatively rotatable manner, so that the first travelling assemblies 2 at the two ends of the cleaning assembly 1 simultaneously travel on two surfaces with different inclination angles. The walking assemblies at the two ends of the cleaning assembly can be twisted relatively, and the roller brush can rotate to continue cleaning under the twisting state.

The connecting shaft 8 may be a pipe, and a reinforcing rib may be disposed inside the connecting shaft, so that not only the strength can be improved, but also the overall weight of the cleaning robot can be reduced, and in a preferred scheme, the connecting shaft 8 may be a double-layer pipe, and the reinforcing rib may be disposed between the double-layer pipes, so that the strength is better.

In this embodiment, the first bracket 222 of the first traveling assembly 2 may be provided with a shaft sleeve, and the shaft sleeve is cooperatively connected with the connecting shaft 8, so that two ends of the connecting shaft 8 may be rotatably assembled with the first traveling assembly 2, respectively, so that the first traveling assemblies 2 located at two ends may be rotatably connected together.

Further, the intermediate transmission assembly 6 may also be provided with a bushing, through which bushing the connection shaft is in a running fit.

With reference to fig. 6, in an embodiment of the present application, the robot includes: the first driving device 9 is movably connected with the first travelling wheel 21 to drive the first travelling wheel 21 to rotate; and a second driving device 10 movably connected with the roller brush shaft for driving the sweeping assembly 1 to rotate. Specifically, the number of the walking wheels 21 is two, and the two walking wheels are respectively arranged at two sides of the end part of the cleaning assembly 1, each walking wheel 21 can be rotationally connected with one first driving device 9, and the walking wheels 21 are driven to rotate by the first driving device 9.

Further, the first driving device 9 may be disposed at one end of the cleaning assembly 1, or may be disposed at both ends of the cleaning assembly, it may be understood that when the first driving device 9 is disposed at only one end of the cleaning assembly 1, the first driving device 9 may be in driving connection with the first running wheel 21 disposed at the same end of the cleaning assembly 1, the first running wheel 21 may be used as a driving wheel, and the first running wheel 21 disposed at the other end of the cleaning assembly 2 may be used as a driven wheel because the first running wheel 21 is in driving connection with the first running wheel 21 disposed at the other end of the cleaning assembly 2 through the first power transmission assembly 3, so that the first running wheel 21 disposed at the other end of the cleaning assembly 2 may be driven to rotate synchronously through the first power transmission assembly 3 when the first driving device 9 is operated.

When the first driving device 9 is disposed at one end of the cleaning robot, the other end of the cleaning robot can be provided with the power supply assembly, the first driving device 9 and the second driving device 10 can supply power through the power supply assembly, and meanwhile, the power supply assembly can also supply power for a control circuit board and other electrical devices disposed inside the cleaning robot.

The first driving device 9 and the second driving device 10 may be driving motors, on which driving shafts are disposed, the driving shaft 91 of the first driving device 9 may be in transmission connection with the first traveling wheel 21 to drive the first traveling wheel 21 to rotate, and the driving shaft of the second driving device 10 may be in rotational connection with the roller brush shaft to drive the cleaning assembly 1 to rotate.

Referring to fig. 7, in this embodiment, the first traveling wheel 21 and the first deviation rectifying wheel 23 may be connected through a gear, specifically, a driving shaft of the first driving device 9 may be connected with a third gear 92 in a driving manner, a fourth gear 93 engaged with the third gear 92 in a gear manner, the fourth gear 93 is connected with an output shaft 94 in a driving manner, a free end of the output shaft 94 may be movably connected with the first deviation rectifying wheel 23, and when the first driving device 9 operates, the first traveling wheel 21 and the first deviation rectifying wheel 23 may be simultaneously driven to synchronously rotate through the gear transmission, so as to realize synchronous traveling of the front and the side. Similarly, the second traveling wheel 411 and the second deviation correcting wheel 42 can also be connected through a gear transmission, that is, the second driving motor 10 provides power for the front and the side to drive the second traveling wheel 41 and the second deviation correcting wheel 42 to rotate synchronously. Alternatively, the second deflection wheel 42 may be an unpowered wheel, i.e., which is urged to rotate by force with the photovoltaic panel sidewall to reduce friction when the cleaning robot is in operation.

In this application embodiment, through intermediate drive, pass through first power transmission component with the power of first walking wheel and give second power transmission component to drive this second walking wheel through this second power transmission component and rotate, thereby realize the synchronous motion of first walking wheel and second walking wheel, can guarantee when crossing the interval between the adjacent photovoltaic board, no matter can both have two at that position to walk the wheel and provide power on the photovoltaic board, and overall structure is simple, and need not the preparation crane span structure and can span the interval between the adjacent photovoltaic board. And through setting up span plate structure, increase the walking wheel on span plate structure, directly stride across the fixed bridge interval of flat unipolar of certain width under the condition that does not need the crane span structure, can satisfy the demand of span, can reduce the cost of setting up the crane span structure. In addition, connect the first walking wheel that is located both ends through the universal joint, and connect the second walking wheel that is located both ends through the universal joint, can guarantee when torsion appears that the robot is certain rigidity, and does not influence the transmission of power.

The foregoing description of the preferred embodiments of the utility model is not intended to be limiting, but rather is intended to cover all modifications, equivalents, and alternatives falling within the spirit and principles of the utility model.

Claims (10)

1. A large span cleaning robot, the robot comprising:

a cleaning assembly;

the first walking assembly is respectively arranged at two ends of the cleaning assembly and comprises at least two first walking wheels respectively arranged at two sides of the end part of the cleaning assembly, and the first walking wheels which are positioned at the same side and are positioned at two ends of the cleaning assembly are in transmission connection through a first power transmission assembly;

the second walking components are oppositely arranged at two sides of the first walking component, each second walking component comprises at least one second walking wheel, and the second walking wheels which are positioned at the same side and are positioned at two ends of the cleaning component are in transmission connection through a second power transmission component;

the middle transmission assembly is arranged on the cleaning assembly and is respectively in transmission connection with the first power transmission assembly and the second power transmission assembly so as to drive the second travelling wheel to rotate;

when the center of gravity of the first travelling assembly is located at the edge of the first photovoltaic panel, the second travelling wheel close to the edge is located on the second photovoltaic panel adjacent to the first photovoltaic panel.

2. The large span cleaning robot of claim 1, further comprising:

the first traveling wheel is arranged on the first span plate structure, and a preset distance is reserved between the second traveling wheel and the first traveling wheel.

3. The large span cleaning robot of claim 2, wherein the first travel assembly further comprises: at least two first deviation correcting wheels which are oppositely arranged at the bottom of the first travelling assembly; the second walking assembly further comprises at least two second deviation correcting wheels which are respectively and oppositely arranged on the structures of the different span plates.

4. The large span cleaning robot of claim 1, wherein the cleaning assembly comprises a first section cleaning assembly and a second section cleaning assembly, the intermediate drive assembly being disposed between the first section cleaning assembly and the second section cleaning assembly.

5. The large span cleaning robot of claim 4, wherein the intermediate drive assembly comprises:

the fixed seat is provided with a first transmission shaft, and two ends of the first transmission shaft are respectively in transmission connection with the first section cleaning assembly and the second section cleaning assembly;

the two ends of the second transmission shaft are respectively in transmission connection with the first power transmission assembly;

the second transmission shaft is arranged on one side of the second transmission shaft away from the first transmission shaft, two ends of the third transmission shaft are respectively in transmission connection with the second power transmission assembly, and the second transmission shaft is in transmission connection with the third transmission shaft through a transmission chain.

6. The large span cleaning robot as recited in claim 5, wherein the drive assembly further comprises:

the second span plates are respectively arranged on two sides of the fixed seat, and are provided with mounting grooves and chain covers for sealing the transmission chains in the mounting grooves.

7. The large span cleaning robot as recited in claim 5, wherein the intermediate drive assembly further comprises:

the first middle travelling wheel is arranged on the second transmission shaft, and the second middle travelling wheel is arranged on the third transmission shaft.

8. The large span cleaning robot of claim 1, wherein the first traveling assembly comprises a mounting base, the first traveling wheel is mounted to the mounting base, the cleaning assembly comprises a roller brush shaft, and bristles provided at the outer circumference of the roller brush shaft, and both ends of the roller brush shaft are connected to the mounting base of the first traveling assembly through universal joints.

9. The large span cleaning robot as recited in claim 8, further comprising:

the connecting shaft is used for connecting the mounting seats of the first travelling assemblies arranged at the two ends of the cleaning assembly in a relatively rotatable manner, so that the first travelling assemblies at the two ends of the cleaning assembly simultaneously travel on two surfaces with different inclination angles.

10. The large span cleaning robot of claim 8, wherein the robot comprises:

the first driving device is movably connected with the first travelling wheel to drive the first travelling wheel to rotate;

and the second driving device is movably connected with the roller brush shaft to drive the roller brush to rotate.