CN220097560U - Transfer system of photovoltaic cleaning robot - Google Patents

Abstract

The utility model provides a transfer system of a photovoltaic cleaning robot, which comprises a track and a transfer trolley capable of moving on the track, wherein the transfer trolley comprises: the bottom frame is arranged on the track; a parking frame obliquely arranged on the bottom frame to form an upper end part and a lower end part with a height difference; the lifting device is configured to respectively lift and adjust the upper end part and the lower end part of the parking frame; the lifting device comprises an upper lifting device for lifting and adjusting the upper end part of the parking frame and a lower lifting device for lifting and adjusting the lower end part of the parking frame; the height and the inclination angle of the parking frame are adjusted by respectively adjusting the heights of the upper end part and the lower end part. The transfer system of the photovoltaic cleaning robot provided by the utility model can be convenient for realizing the angle and height adjustment of the photovoltaic cleaning robot.

Description

Transfer system of photovoltaic cleaning robot

Technical Field

The utility model relates to the technical field of photovoltaic cleaning, in particular to a transfer system of a photovoltaic cleaning robot.

Background

The photovoltaic power generation is a technology for converting light energy into electric energy by utilizing the photovoltaic effect of a semiconductor interface, and the energy source is from solar energy, has the advantages of inexhaustible energy, reproducibility, cleanness, no pollution and the like, and is a clean energy technology with wide application prospect. An important component in photovoltaic power generation is a photovoltaic panel, which is typically installed in an outdoor environment with abundant sunlight to obtain solar energy. Because the surface of the photovoltaic plate is easy to accumulate dirt such as dust, bird droppings, leaves and the like in the long-term use process, the dirt accumulated on the surface of the photovoltaic plate can reduce the sunlight irradiation area and the light absorption efficiency of the photovoltaic plate, and the power generation efficiency of the photovoltaic plate is seriously affected. In order to improve the power generation efficiency of the photovoltaic panel, the surface of the photovoltaic panel needs to be cleaned periodically.

For this reason, the industry has developed photovoltaic cleaning robots that can be moved over a photovoltaic panel for cleaning. However, existing photovoltaic cleaning robots can only move over the interconnected photovoltaic panel arrays and cannot move onto the unconnected photovoltaic panel arrays. In the prior art, for photovoltaic panel arrays arranged in rows, a photovoltaic cleaning robot is often configured on each row of photovoltaic arrays, so that the cost of photovoltaic cleaning is increased. In this regard, in the prior art, there are also schemes for transferring the photovoltaic cleaning robot by using a transfer vehicle, however, in some prior art, the angle and the height of the transfer vehicle are not adjustable, which is not beneficial to transferring the photovoltaic cleaning robot between photovoltaic arrays with height or angle differences; in other prior arts, for example, chinese patent publication No. CN205873818U discloses that the height and angle of the transfer cart are adjustable, however, the height and angle of the transfer cart need to be respectively adjusted by different mechanisms, which has a complex structure, poor adjustment accuracy, low adjustment efficiency, and inconvenient adjustment.

In view of this, a new technical solution is necessary to overcome the drawbacks of the prior art.

Disclosure of Invention

The utility model provides a transfer system of a photovoltaic cleaning robot, which can facilitate the adjustment of the angle and the height of the photovoltaic cleaning robot.

The utility model is realized by the following technical scheme: a transfer system for a photovoltaic cleaning robot adapted to transfer cleaning robots between arrays of photovoltaic panels of different rows or columns, the transfer system comprising a track and a transfer car movable on the track, wherein the transfer car comprises:

a base frame disposed on the track, the base frame configured to translate along the track;

a docking rack configured to be adapted to dock a photovoltaic cleaning robot thereon, the docking rack being obliquely disposed on the bottom frame, forming an upper end and a lower end having a height difference; and

the lifting device is configured to respectively lift and adjust the upper end part and the lower end part of the parking frame;

the lifting device comprises an upper lifting device for lifting and adjusting the upper end part of the parking frame and a lower lifting device for lifting and adjusting the lower end part of the parking frame; the heights of the upper end part and the lower end part are respectively adjusted to adjust the height and the inclination angle of the parking frame;

the upper lifting device comprises an upper push rod and an upper port upper connecting seat, wherein an upper port lifting motor, a gear set driven by the upper port lifting motor and an upper port screw nut driven to rotate by the gear set are arranged on the upper port upper connecting seat, and the upper push rod is a screw rod meshed with the upper port screw nut for transmission.

As a further improved technical scheme of the utility model, the upper push rod is pivotally connected with the upper end part of the parking frame.

As a further improved technical scheme of the utility model, in the lifting process of the parking frame, the included angle between the upper push rod and the parking frame is configured to be changed from 80 degrees to 100 degrees.

As a further improved technical scheme of the utility model, the upper lifting device comprises an upper connecting shaft which is pivotally connected with the upper end of the parking frame, and the upper end of the upper push rod is connected to the upper connecting shaft.

As a further improved technical scheme of the utility model, the upper lifting device comprises a plurality of upper opening guide shafts which are symmetrically distributed relative to the upper push rod.

As a further improved technical scheme of the utility model, the upper end of the upper port guide shaft is connected with the upper connecting shaft.

As a further improved technical scheme of the utility model, the outer side of the upper port guide shaft is also sleeved with an upper port guide shaft sleeve.

As a further improved technical scheme of the utility model, the bottom frame comprises a supporting frame close to the upper end part of the parking frame, the supporting frame is provided with a bevel which faces the parking frame, and the lower end of the upper lifting device is pivotally connected to the bevel of the supporting frame.

As a further improved technical scheme of the utility model, the lower end of the upper lifting device comprises an upper opening lower connecting seat, the upper opening lower connecting seat is pivotally connected with the supporting frame, a through hole for the lower end of the upper push rod to pass through is formed in the upper opening lower connecting seat, and a limiting piece for preventing the lower end of the upper push rod from being separated from the through hole upwards is arranged at the lower end of the upper push rod.

According to the transfer system of the photovoltaic cleaning robot, the lifting device is configured to be capable of respectively lifting and adjusting the upper end part and the lower end part of the parking frame; the lifting device comprises an upper lifting device which is used for lifting and adjusting the upper end part of the berthing frame, the upper lifting device is arranged between the support frame and the upper end part of the berthing frame, and the upper lifting device is inclined towards the lower end part of the berthing frame relative to the vertical direction in the extending direction from the support frame to the berthing frame; the angle and the height of the photovoltaic cleaning robot can be conveniently adjusted, and the photovoltaic cleaning robot can be stably carried.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present utility model, the drawings that are needed in the description of the embodiments will be briefly described below, it being obvious that the drawings in the following description are only some embodiments of the present utility model, and that other drawings may be obtained according to these drawings without inventive effort to a person skilled in the art.

FIG. 1 is a perspective view of a transit system of the present utility model.

Fig. 2 is a perspective view of another view of the transit system of the present utility model.

Fig. 3 is a side view of the transfer system of the present utility model.

Fig. 4 is a perspective view of a transfer vehicle of the transfer system of the present utility model.

Fig. 5 is a perspective view of the travel drive of the transfer vehicle of the present utility model.

Fig. 6 is a perspective view of the upper lifting device of the transfer car of the present utility model.

Fig. 7 is a perspective view of a lifting device of the transfer car of the present utility model.

Reference numerals illustrate: 100-track; 101-tooth holes; 102-positioning piece; 200-a transfer vehicle; 1-a bottom frame; 11-horizontal rack; 111-anti-toppling member; 12-supporting frames; 121-inclined plane; 131-a first detection switch; 132-a second detection switch; 141-a third detection switch; 142-fourth detection switch; 2-a rest; 21-upper end; 22-lower end; 3-lifting device; 31-an upper opening lifting motor; 32-upper port driving gear; 33-upper driven gear; 34-upper lead screw nut; 35-pushing up the rod; 351-upper push rod stop; 36-upper connecting shaft; 37-an upper connecting seat; 371-upper mount; 38-an upper opening lower connecting seat; 381-connecting ears; 382-bearing seat; 39-upper port guide shaft; 391-upper port guide sleeve; 4-a lower lifting device; 41-a lower opening lifting motor; 42-a lower port drive gear; 43-a lower port driven gear; 44-a lower port lead screw nut; 45-pushing down the rod; 451-lower push rod stop; 46-a lower connecting shaft; 47-a lower port upper connecting seat; 471-lower mounting base; 48-a lower port lower connecting seat; 49-lower port guide shaft; 491-lower port guide sleeve; 5-a walking driving device; 51-a walking driving motor; 52-a driving wheel; 53-driven wheel; 54-a transmission shaft; 55-travelling wheels; 56-rail wheels; 57-a self-locking device; 61-a fifth detection switch; 62-sixth detection switch.

Detailed Description

Reference will now be made in detail to exemplary embodiments, examples of which are illustrated in the accompanying drawings. When the following description refers to the accompanying drawings, the same numbers in different drawings refer to the same or similar elements, unless otherwise indicated. The implementations described in the following exemplary embodiments are not representative of all implementations consistent with the present utility model and are merely examples of apparatus and methods consistent with aspects of the present utility model.

The terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the utility model. As used in this specification and the appended claims, the singular forms "a," "an," and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise. It should also be understood that the term "and/or" as used herein refers to and encompasses any or all possible combinations of one or more of the associated listed items.

It should be understood that although the terms first, second, third, etc. may be used herein to describe various information, these information should not be limited by these terms. These terms are only used to distinguish one type of information from another. For example, first information may also be referred to as second information, and similarly, second information may also be referred to as first information, without departing from the scope of the utility model. The word "if" as used herein may be interpreted as "at … …" or "at … …" or "responsive to a determination", depending on the context.

A transfer system of a photovoltaic cleaning robot according to the present utility model will be described in detail with reference to the accompanying drawings. Features of the embodiments described below may be combined with each other without conflict.

Referring to fig. 1 to 7, the present utility model provides a transfer system of a photovoltaic cleaning robot, which is suitable for transferring the cleaning robot between photovoltaic panel arrays of different rows or columns, and comprises a track 100 and a transfer vehicle 200 movable on the track 100.

Referring to fig. 1 and 2, the track 100 is laid at one end of the photovoltaic array. The track 100 includes two parallel guide rails, and a plurality of transverse support beams and ground piles are arranged between the two parallel guide rails for firmly fixing the guide rails on the ground. The transverse supporting beams can be connected with the side edges of the guide rail through welding or bolts. The two parallel guide rails can be formed by splicing multiple sections so as to meet the requirement of laying length. In this embodiment, the cross section of the guide rail is L-shaped, and has a cross plate and a riser connected at right angles, where the cross plate is a walking surface on which the transfer trolley 200 walks, and a plurality of tooth holes 101 are formed on the cross plate. The transfer trolley 200 is provided with a travelling wheel 55 which is matched with the tooth hole 101 to travel. The side of the guide rail is also provided with a plurality of positioning pieces 102, the positioning pieces 102 have a corresponding position relation with the photovoltaic panel array when arranged on the guide rail, and the positioning pieces 102 are used for being matched with a detection switch on the transfer car 200 so as to control the transfer car 200 to travel to a position or a traveling speed and the like.

Referring to fig. 1 to 3, the transfer vehicle 200 includes a bottom frame 1, a parking frame 2 movably disposed on the bottom frame 1, a lifting device for driving the parking frame 2 to move relative to the bottom frame 1, and a traveling driving device 5 for driving the transfer vehicle 200 to travel on the track 100.

Referring to fig. 4, the base frame 1 is disposed on the rail 100, and the base frame 1 is configured to translate along the rail 100. In this embodiment, the bottom frame 1 includes a horizontal frame 11 and a supporting frame 12 provided at one end of the horizontal frame 11. The horizontal frame 11 is of a rectangular frame structure, and is provided with a long side and a short side, and a plurality of cross beams parallel to the short side, and the structural strength of the horizontal frame 11 can be enhanced through the arrangement of the cross beams. The width of the horizontal shelf 11 matches the distance between the two rails of the track 100. The support frame 12 has a substantially right triangle structure, and has a vertical side perpendicular to the horizontal frame 11 and an inclined side obliquely intersecting the horizontal frame 11. The vertical side is vertically connected with one short side of the horizontal frame 11, and the inclined side is obliquely connected with one cross beam of the horizontal frame 11. The included angle between the inclined edge and the horizontal plane is set to 55-70 degrees. The vertical side and the inclined side may be fixedly connected to the horizontal frame 11 by welding, high strength bolts, or the like. The support frame 12 is arranged at one end of the horizontal frame 11 for carrying the upper opening of the photovoltaic cleaning robot.

Referring to fig. 5, the walking driving device 5 is mounted on the bottom frame 1. The traveling driving device 5 comprises a traveling driving motor 51, a driving wheel 52 driven by an output shaft of the traveling driving motor 51 to rotate, a driven wheel 53 in transmission connection with the driving wheel 52 through a chain, a transmission shaft 54 in circumferential transmission connection with the driven wheel 53, and two traveling wheels 55 arranged at two ends of the transmission shaft 54. The travelling wheel 55 is a sprocket with teeth, and the teeth on the travelling wheel 55 can be inserted into the tooth holes 101 on the track 100 and roll on the tooth holes 101. The walking driving motor 51 is fixed on the horizontal frame 11 and horizontally placed to lower the center of gravity thereof.

Referring to fig. 4, the two ends of the transmission shaft 54 pass through two long sides of the horizontal frame 11, and the travelling wheels 55 are fixedly connected to the transmission shaft 54 outside the two long sides of the horizontal frame 11. The outer sides of the two edges of the horizontal frame 11 are also provided with a rail wheel 56 and a self-locking device 57. The rail wheel 56 is used for supporting the rail 100 during walking, so that the vertical supporting force is not provided by the walking wheel 55, and the walking wheel 55 mainly provides power in the advancing direction through the relative stirring between the teeth and the tooth holes 101. In this embodiment, the rail wheels 56 are provided in two groups, respectively, at positions near the front end and the rear end of the bottom frame 1. In other embodiments, the rail wheels 56 may be added in more groups. The self-locking device 57 may be used to lock the transfer cart 200 to the track 100 in a stopped position or other situations where fixation is desired, preventing the transfer cart 200 from moving on the track 100. In this embodiment, the self-locking device 57 is an electric push rod, and the self-locking is achieved by inserting the electric push rod into the tooth hole 101. A detection switch is further arranged on one of the two long sides of the horizontal frame 11, and the detection switch can be matched with the positioning piece 102 on the track 100 to realize detection of the movement position of the transfer trolley 200. Specifically, the detection switches include a fifth detection switch 61 and a sixth detection switch 62, which are arranged at intervals back and forth in the traveling direction of the transfer cart 200. In the two detection switches, when the detection switch positioned at the front side in the travelling direction senses with the positioning piece 102, the transfer vehicle 200 is judged to reach the position for connecting the photovoltaic cleaning robot, and the transfer vehicle 200 is controlled to slow down so as to avoid instability caused by the fact that the transfer vehicle 200 misses the connecting position too fast or suddenly stops; when the detection switch located at the rear side in the traveling direction senses with the positioning member 102, it is determined that the transfer truck 200 reaches the docking position, and the transfer truck 200 is controlled to stop. In the present embodiment, the detection switches 61, 62 are swing arm type micro switches. The horizontal frame 11 is further provided with an anti-toppling member 111, when the transfer car 200 is located on the track 100, the anti-toppling member 111 is located below a transverse plate of a guide rail of the track 100, and is not in contact with the track 100 during normal operation, so that the normal operation of the transfer car 200 is prevented from being affected. When the transfer car 200 is inclined by a strong wind or other external force, the anti-toppling member 111 may contact with the bottom surface of the cross plate of the track 100 upwards due to the inclination of the transfer car 200, so as to prevent the transfer car 200 from toppling. In this embodiment, four anti-toppling members 111 are provided and distributed on both sides of the front end and both sides of the rear end of the horizontal frame 11. The anti-toppling member 111 is a hook member formed by bending a metal plate, and in other embodiments, a roller or the like may be used for the anti-toppling member 111. The roller wheel can prevent toppling and can provide a motion guiding function when tilting.

With continued reference to fig. 1 to 3, the docking rack 2 is configured to be suitable for a photovoltaic cleaning robot to dock thereon, the docking rack 2 is obliquely disposed on the bottom frame 1, and an upper end 21 and a lower end 22 with a height difference are formed, and the upper end 21 corresponds to the supporting frame 12 of the bottom frame 1. Although the heights of the upper end portion 21 and the lower end portion 22 are adjustable, in the case that the parking frame 2 is at any inclination angle, the upper end portion 21 is higher than the lower end portion 22, that is, the parking frame 2 is always inclined downwards from the upper end portion 21 to the lower end portion 22, and only the inclination angle is different according to the adjustment of the lifting device so as to adapt to the transferring action process. In this embodiment, the docking frame 2 has a rectangular frame structure, and matches with the bottom contour of the photovoltaic cleaning robot.

Referring to fig. 6 and 7, the lifting device is configured to be capable of lifting and lowering the upper end 21 and the lower end 22 of the docking frame 2, respectively. The lifting device comprises an upper lifting device 3 for lifting and adjusting the upper end part 21 of the parking frame 2 and a lower lifting device 4 for lifting and adjusting the lower end part 22 of the parking frame 2, and the heights of the upper end part 21 and the lower end part 22 are respectively adjusted to adjust the height and the inclination angle of the parking frame 2. The upper lifting device 3 comprises an upper lifting motor 31, an upper driving gear 32, an upper driven gear 33, an upper lead screw nut 34, an upper push rod 35, an upper connecting shaft 36, an upper connecting seat 37, an upper lower connecting seat 38, an upper guide shaft 39 and an upper guide shaft sleeve 391. The upper-mouth lower connecting seat 38 is connected to the inclined surface 121 of the supporting frame 12. The upper-mouth lower-connection seat 38 comprises a connection lug 381 and a bearing seat 382 fixed on the inclined plane 121 of the support frame 12, a bearing is installed in the bearing seat 382, and the connection lug 381 is rotatably connected to the bearing through a rotating shaft. The upper port guide shaft sleeve 391 is fitted over the upper port guide shaft 39 and is positioned between the upper port upper connection seat 37 and the upper port lower connection seat 38. The upper port upper connecting seat 37 is provided with the upper port lifting motor 31, a gear set driven by the upper port lifting motor and an upper port screw nut 34 driven by the gear set to rotate, and the upper push rod 35 is a screw rod meshed with the upper port screw nut 34 for transmission. The upper port upper connecting seat 37 comprises an upper port mounting seat 317, and the upper port lead screw nut 34 is fixed on the upper port mounting seat 371. The upper lifting device 3 includes an upper connecting shaft 36 pivotally connected to the upper end 21 of the parking frame 2, the upper end of the upper push rod 35 is connected to the upper connecting shaft 36, the upper opening guide shafts 39 are multiple and symmetrically distributed relative to the upper push rod 35, and the upper end of the upper opening guide shaft 39 is connected to the upper connecting shaft 36. The lower extreme of the upper lifting device 3 includes the upper port lower connecting seat 38 with support frame 12 pivoted connection, be equipped with on the upper port lower connecting seat 38 and supply the perforation that the lower extreme of upper push rod 35 passed, the lower extreme of upper push rod 35 is equipped with the locating part that avoids upper push rod 35's lower extreme upwards to follow break away from in the perforation, upper push rod locating part 351 promptly, when locating part and upper port lower connecting seat 38 butt, the highest extreme position of upper push rod 35 upwards jack-up stop frame 2's upper end 21 has been defined.

The upper lifting device 3 is disposed between the support frame 12 and the upper end portion 21 of the docking frame 2, and the upper lifting device 3 is inclined toward the lower end portion 22 of the docking frame 2 with respect to the vertical direction in the extending direction from the support frame 12 to the docking frame 2. The upper lifting device 3 can be abutted against the upper end part 21 of the parking frame 2 in a nearly vertical direction, so that the support is more stable and reliable, and the moment for causing the upper push rod 35 and the upper opening guide shaft 39 of the upper lifting device 3 to deflect is not easy to generate. The photovoltaic panel array is often in an inclined arrangement, and the inclination angle is related to the latitude where the photovoltaic panel array is located, so that the surface of the photovoltaic panel array is perpendicular to the rays of sunlight as much as possible, and more sunlight energy is obtained. Although the angle between the upper lifting device 3 and the docking frame 2 will change during lifting, the angle change is not large enough to meet the requirements of the connection process and angle adjustment caused by the installation angle errors between different photovoltaic panel arrays, so that the included angle between the upper push rod 35 and the docking frame 2 can move within a nearly vertical angle range, preferably, the included angle between the upper push rod 35 and the docking frame 2 is configured to change between 80 ° -100 ° during lifting of the docking frame.

Referring to fig. 7, the lower lifting device 4 includes a lower lifting motor 41, a lower driving gear 42, a lower driven gear 43, a lower screw nut 44, a lower push rod 45, a lower connecting shaft 46, a lower upper connecting seat 47, a lower mounting seat 471, a lower connecting seat 48, a lower guiding shaft 49, and a lower guiding sleeve 491. The lower lifting device 4 is connected to the horizontal frame 11 of the bottom frame 1 through a lower opening lower connecting seat 48. A lower push rod limiting member 451 is provided at the lower end of the lower push rod 45. The lower push rod 45 and the lower opening guide shaft 49 of the lower lifting device 4 are disposed substantially perpendicular to the horizontal frame 11. The connection manner of each component included in the lower lifting device 4 is similar to that of the upper lifting device 3, and may be specifically understood with reference to the upper lifting device 3, which is not described herein. The "upper", "lower", "upper opening" and "lower opening" included in the names of the above-mentioned components of the lifting device are for distinguishing the two lifting devices in the embodiment of the present utility model, and do not limit the characteristics of the components.

Referring to fig. 2 again, detection switches for detecting the rising and falling positions are further arranged at the upper end 21 and the lower end 22 of the parking frame 2. Specifically, the first detection switch 131 and the second detection switch 132 are located at the upper end portion 21, and the third detection switch 141 and the fourth detection switch 142 are located at the lower end portion 22. The first detection switch 131 is used for detecting the falling of the upper end 21 of the parking frame 2, the second detection switch 132 is used for detecting the rising of the upper end 21 of the parking frame 2, the third detection switch 141 is used for detecting the falling of the lower end 22 of the parking frame 2, and the fourth detection switch 142 is used for detecting the rising of the lower end 22 of the parking frame 2. In this embodiment, the first detection switch 131, the second detection switch 132, the third detection switch 141 and the fourth detection switch 142 are swing arm type micro switches.

As can be seen from the above description of the specific embodiments, the transfer system of the photovoltaic cleaning robot provided by the utility model has the following beneficial effects: the direction of the force applied by the upper lifting device 3 to the upper end part 21 of the parking frame 2 can be nearly along the axial direction of the upper push rod 35 and the upper opening guide shaft 39, so that the support is more stable, and the upper push rod 35 is not easy to move smoothly or deform or damage due to the torsion moment; the upper end part 21 and the lower end part 22 are respectively adjustable, so that the same set of adjusting structure is adopted for height adjustment and angle adjustment, different mechanisms are not required for height and angle adjustment, and the structure is simple and the adjustment is convenient; the screw rod is adopted for height and angle adjustment, and the adjustment precision and efficiency are high.

The present utility model is not limited to the above-mentioned embodiments, but is not limited to the above-mentioned embodiments, and any simple modification, equivalent changes and modification made to the above-mentioned embodiments according to the technical matters of the present utility model can be made by those skilled in the art without departing from the scope of the present utility model.

Claims (9)

1. A transfer system for a photovoltaic cleaning robot adapted to transfer cleaning robots between arrays of photovoltaic panels of different rows or columns, the transfer system comprising a track and a transfer car movable on the track, characterized in that the transfer car comprises:

a base frame disposed on the track, the base frame configured to translate along the track;

a docking rack configured to be adapted to dock a photovoltaic cleaning robot thereon, the docking rack being obliquely disposed on the bottom frame, forming an upper end and a lower end having a height difference; and

the lifting device is configured to respectively lift and adjust the upper end part and the lower end part of the parking frame;

the lifting device comprises an upper lifting device for lifting and adjusting the upper end part of the parking frame and a lower lifting device for lifting and adjusting the lower end part of the parking frame; the heights of the upper end part and the lower end part are respectively adjusted to adjust the height and the inclination angle of the parking frame;

the upper lifting device comprises an upper push rod and an upper port upper connecting seat, wherein an upper port lifting motor, a gear set driven by the upper port lifting motor and an upper port screw nut driven to rotate by the gear set are arranged on the upper port upper connecting seat, and the upper push rod is a screw rod meshed with the upper port screw nut for transmission.

2. The transfer system of a photovoltaic cleaning robot of claim 1, wherein the push-up bar is pivotally connected to an upper end of the docking rack.

3. The transfer system of a photovoltaic cleaning robot of claim 2, wherein an angle between the push-up bar and the docking rack is configured to vary between 80 ° -100 ° during lifting of the docking rack.

4. The transfer system of a photovoltaic cleaning robot of claim 2, wherein the upper lifting device comprises an upper connection shaft pivotally connected to an upper end of the docking rack, and an upper end of the upper push rod is connected to the upper connection shaft.

5. The transfer system of a photovoltaic cleaning robot of claim 4, wherein the upper lift device comprises an upper port guide shaft, the upper port guide shafts being symmetrically distributed with respect to the upper push rod.

6. The transfer system of a photovoltaic cleaning robot of claim 5, wherein an upper end of the upper port guide shaft is connected to the upper connection shaft.

7. The transfer system of a photovoltaic cleaning robot of claim 5, wherein the outer side of the upper port guide shaft is further sleeved with an upper port guide shaft sleeve.

8. The transfer system of a photovoltaic cleaning robot of claim 2, wherein the bottom frame comprises a support frame proximate an upper end of the docking frame, the support frame having a ramp toward the docking frame, a lower end of the upper lift being pivotally connected to the ramp of the support frame.

9. The transfer system of the photovoltaic cleaning robot according to claim 8, wherein the lower end of the upper lifting device comprises an upper-opening lower connecting seat, the upper-opening lower connecting seat is pivotally connected with the supporting frame, a through hole for the lower end of the upper push rod to pass through is formed in the upper-opening lower connecting seat, and a limiting piece for preventing the lower end of the upper push rod from being separated upwards from the through hole is arranged at the lower end of the upper push rod.