A motion frame structure for a photovoltaic module cleaning robot

Abstract

The present invention discloses a motion frame structure of a photovoltaic module cleaning robot, comprising: a frame, comprising at least two frames, the left and right ends of the frames are provided with a splicing part, and two adjacent frames are detachably connected through the splicing part; a walking mechanism, the number of which is at least two, and the left and right ends of the frame are respectively provided with at least one walking mechanism, the walking mechanism comprises a vertical plate, the vertical plate is rotatably connected with a walking wheel, the vertical plate is fixedly connected with a driving motor, and a connecting part is provided on the frame, and the vertical plate is detachably connected with the connecting part. The frame comprises at least two frames, and adjacent frames are detachably spliced ​​with the splicing part, and the number of frames can be conveniently increased or decreased to extend or shorten the length of the frame, thereby adapting to the increase or decrease in the number of photovoltaic modules; a connecting part that can be connected to the walking mechanism is provided on the frame, and the walking mechanism can be removed and installed on the connecting part of the appropriate frame to adapt to walking on the photovoltaic modules after the number is changed.

Description

Technical Field

[0001] The invention relates to the technical field of photovoltaic component maintenance, and in particular to a motion frame structure of a photovoltaic component cleaning robot. Background Art

[0002] Solar energy is an inexhaustible renewable energy source for mankind. It has the advantages of full cleanliness, absolute safety, relative extensiveness, real long life, sufficient resources and potential economy. Photovoltaic modules generate electricity by absorbing sunlight and need to be placed outdoors for a long time. Therefore, the surface of photovoltaic modules is easily attached with dirt such as dust and bird droppings, resulting in reduced power generation of photovoltaic modules. Therefore, photovoltaic module cleaning robots are needed to clean the dirt on the surface of photovoltaic modules. Photovoltaic module cleaning robots straddle photovoltaic modules. Existing photovoltaic module cleaning robots can only clean photovoltaic modules of fixed length. When it is necessary to increase or decrease photovoltaic modules, photovoltaic module cleaning robots of different length specifications need to be replaced, which is costly. Summary of the invention

[0003] The present invention aims to solve at least one of the technical problems existing in the prior art. To this end, the present invention provides a motion frame structure of a photovoltaic module cleaning robot.

[0004] The motion frame structure of the photovoltaic assembly cleaning robot according to an embodiment of the present invention includes:

[0005] The frame comprises at least two frames, all of which are arranged in sequence along the left-right direction, and the left and right ends of the frames are provided with splicing parts, and two adjacent frames are detachably connected through the splicing parts;

[0006] There are at least two walking mechanisms, and at least one walking mechanism is respectively provided at the left end and the right end of the frame. The walking mechanism includes a vertical plate, and the vertical plate is rotatably connected to a walking wheel arranged along an axis along the left and right directions. The vertical plate is fixedly connected to a driving motor, and the walking wheel is drivingly connected to the driving motor. The frame is provided with a connecting part, and the vertical plate is detachably connected to the connecting part.

[0007] The motion frame structure of the photovoltaic module cleaning robot according to the embodiment of the present invention has at least the following beneficial effects: the length of the frame of the photovoltaic module cleaning robot determines the number of photovoltaic modules that can be spanned, the frame includes at least two frames, the left and right ends of the frames are provided with splicing parts, adjacent frames are detachably spliced ​​by the splicing parts, the number of frames can be conveniently increased or decreased to extend or shorten the length of the frame, thereby adapting to the increase or decrease in the number of photovoltaic modules; the frame is provided with a connecting part that can be connected to a walking mechanism, when the number of frames is increased or decreased, the walking mechanism can be removed and installed on the connecting part of an appropriate frame to adapt to walking on the changed number of photovoltaic modules.

[0008] According to some embodiments of the present invention, the frame includes a plurality of first cross bars extending in the left-right direction, with the left-right direction being the length direction of the frame, and the plurality of first cross bars are distributed circumferentially along the length direction of the frame, and an intermediate connecting bar is connected between two adjacent first cross bars, and the length direction of the intermediate connecting bar is perpendicular to the left-right direction, and the first cross bars and the intermediate connecting bars are both aluminum profile components, and the frame also includes a plurality of first aluminum profile connectors and a plurality of second aluminum profile connectors, and the first cross bars and the intermediate connecting bars connected to each other are fixedly connected by the aluminum profile connectors, and the first cross bar has a connecting groove extending in the left-right direction, and the connecting groove includes the splicing portion, and the plurality of first cross bars in two adjacent frames are arranged opposite to each other and are detachably connected by the second aluminum profile connector.

[0009] The frame is formed by splicing aluminum profiles, which are easy to process and splice. The grooves on the aluminum profiles can be used as connecting grooves and can be used as splicing parts. The first aluminum connector and the second aluminum connector are commonly used accessories for connecting aluminum profiles. The first aluminum connector can be used to conveniently assemble the first horizontal bar and the middle connecting bar into a frame, and the second aluminum connector can be used to conveniently splice the two first horizontal bars to splice the two frames.

[0010] According to some embodiments of the present invention, the connecting groove includes the connecting portion, and the connecting portion is arranged beside the splicing portion, and a walking mechanism is connected to the side of at least one of the two interconnected splicing portions.

[0011] A walking mechanism is arranged at the joint position of two adjacent frames, and the walking mechanism can play a walking and supporting role; in addition to the two walking mechanisms at both ends of the frame, a walking mechanism is also arranged in the middle of the frame, and the walking mechanism walks at the edge position between the two photovoltaic modules, and plays a supporting role for the middle of the frame, thereby improving the strength of the joint of the two frames and reducing the downward bending deformation of the middle of the frame; increasing the number of walking mechanisms also increases the friction between the photovoltaic module cleaning robot and the photovoltaic module, thereby improving the walking stability.

[0012] According to some embodiments of the present invention, the present invention also includes two limit assemblies, which are respectively arranged at the left and right ends of the frame, and the limit assembly includes a limit seat fixedly connected to the frame body, and the limit seat is rotatably connected with a plurality of limit wheels arranged along the up and down directions of the axes, and the plurality of limit wheels are arranged along the front and back directions, the limit assembly located on the left side is arranged on the left side of the walking mechanism located on the far left, and the limit assembly located on the right side is arranged on the right side of the walking mechanism located on the far right, and the limit wheel is arranged on the lower side of the walking wheel.

[0013] The two limit assemblies are respectively arranged at the left and right ends of the frame, and the limit wheels in the two limit assemblies are respectively abutted against the leftmost side and the rightmost side of multiple photovoltaic assemblies, so as to limit the left and right directions of the photovoltaic assembly cleaning robot when it walks along the front and back directions on the photovoltaic assembly.

[0014] According to some embodiments of the present invention, a positioning adjustment groove is provided on the frame body located on the far left or the far right, and the positioning adjustment groove extends in the left-right direction. The limit seat is slidably connected to the positioning adjustment groove, and a sliding locking piece is fixedly connected to the limit seat. The limit seat is connected and locked to the positioning adjustment groove through the sliding locking piece.

[0015] The limit seat can slide left and right along the positioning adjustment groove on the frame, so that the limit assembly can adapt to the changed number of photovoltaic modules for fine adjustment, play a better limiting role, and more conveniently change the number of photovoltaic modules. The limit seat is connected to the frame through a sliding locking piece, and the sliding locking piece can be locked on the positioning adjustment groove with screws.

[0016] According to some embodiments of the present invention, the limiting wheel is provided with a lightning protection belt avoidance groove arranged along the circumference. Lightning protection belts are arranged on the sides of some photovoltaic modules to prevent lightning from damaging the photovoltaic modules, and the lightning protection belt avoidance groove is arranged so that the lightning protection belt does not affect the rotation and movement of the limiting wheel.

[0017] According to some embodiments of the present invention, a plurality of the walking wheels are rotatably connected to the lower side of the vertical plate, the plurality of the walking wheels are arranged in the front-to-back direction, an idler wheel arranged on the upper side of the walking wheel is rotatably connected to the vertical plate, a walking belt is wound around the plurality of the walking wheels and the idler wheels, and a tensioning wheel for tensioning the walking belt is also rotatably connected to the vertical plate.

[0018] In the existing walking mechanism, the walking wheels are in direct contact with the photovoltaic module panel, which is easy to cause damage to the photovoltaic module panel during walking. In this technology, a crawler-type walking mechanism is adopted, and a crawler-type structure is formed by multiple walking wheels, idle wheels and walking belts, and is tensioned by a tensioning wheel; multiple walking wheels are installed on the lower side of the vertical plate and have the same height, and the lower side of the walking belt is wrapped around the lower side of multiple walking wheels. The walking wheels drive the walking belt to rotate, and the walking belt contacts the photovoltaic module panel, which causes less damage to the photovoltaic module panel, and the contact area with the photovoltaic module panel is increased, and the friction is also increased, reducing the slipping phenomenon.

[0019] According to some embodiments of the present invention, the walking belt is a synchronous belt. Correspondingly, the walking wheel is a synchronous belt wheel, and the synchronous belt is made of rubber material, which has little damage to the photovoltaic module panel and meshes with the walking wheel to reduce slippage between the walking belt and the walking wheel.

[0020] According to some embodiments of the present invention, there are two idle wheels, which are respectively arranged at the front and rear sides of the plurality of walking wheels, and the tensioning wheel is arranged between the two idle wheels. The tensioning wheel is pressed against the upper side of the walking belt, and the vertical plate is provided with a tensioning adjustment groove arranged in the up-down direction, and the tensioning wheel can be connected and locked with the tensioning adjustment groove by sliding up and down. The upper side of the walking belt is wound around the upper sides of the two idle wheels, and the tensioning wheel is located between the two idle wheels and presses the walking belt downward to tension the walking belt, which has a simple structure.

[0021] The invention is used for photovoltaic component maintenance. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] The above and / or additional aspects and advantages of the present invention will become obvious and easy to understand from the description of the embodiments in conjunction with the following drawings. Obviously, the drawings described are only part of the embodiments of the present invention, not all of the embodiments, and those skilled in the art can also obtain other design solutions and drawings based on these drawings without creative work.

[0023] Figure 1 It is a three-dimensional schematic diagram of an embodiment of the present invention;

[0024] Figure 2 This is a three-dimensional schematic diagram of an embodiment of the present invention installed on a photovoltaic module;

[0025] Figure 3 It is a three-dimensional schematic diagram of a walking mechanism and a limiting assembly according to an embodiment of the present invention;

[0026] Figure 4 It is a three-dimensional schematic diagram of the walking mechanism of an embodiment of the present invention.

[0027] In the accompanying drawings: 101-frame, 102-frame, 103-joining part, 104-positioning adjustment groove, 105-first horizontal bar, 201-walking mechanism, 202-vertical plate, 203-walking wheel, 204-driving motor, 205-idle wheel, 206-walking belt, 207-tensioning wheel, 208-tensioning adjustment groove, 209-motor controller, 301-limiting assembly, 302-limiting seat, 303-limiting wheel, 304-sliding locking piece, 305-lightning protection belt avoidance groove, 401-photovoltaic assembly. DETAILED DESCRIPTION

[0028] Embodiments of the present invention are described in detail below, examples of which are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present invention, and cannot be understood as limiting the present invention.

[0029] In the description of the present invention, it should be understood that descriptions involving orientations, such as up, down, front, back, left, right, etc., and orientations or positional relationships indicated are based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the present invention.

[0030] In the description of the present invention, unless otherwise clearly defined, words such as provided with and connected should be understood in a broad sense, and technicians in the relevant technical field can reasonably determine the specific meanings of the above words in the present invention in combination with the specific content of the technical solution.

[0031] Reference below Figures 1 to 4 The motion frame structure of the photovoltaic assembly cleaning robot according to an embodiment of the present invention is described.

[0032] The motion frame structure of the photovoltaic module cleaning robot includes:

[0033] The frame 101 includes at least two frames 102, all of which are arranged in sequence along the left-right direction, and the left and right ends of the frames 102 are provided with a splicing portion 103, and two adjacent frames 102 are detachably connected through the splicing portion 103;

[0034] There are at least two walking mechanisms 201, and at least one walking mechanism 201 is respectively arranged at the left end and the right end of the frame 101. The walking mechanism 201 includes a vertical plate 202, and the vertical plate 202 is rotatably connected to a walking wheel 203 arranged along the axis in the left and right directions. A driving motor 204 is fixedly connected to the vertical plate 202, and the walking wheel 203 is transmission-connected to the driving motor 204. A connecting portion is provided on the frame 102, and the vertical plate 202 is detachably connected to the connecting portion.

[0035] The photovoltaic module 401 cleaning robot mainly crosses the photovoltaic module 401 through the frame 101. The frame 101 can be provided with a cleaning device to clean the photovoltaic module 401. The length of the frame 101 determines the number of photovoltaic modules 401 that can be crossed; the frame 101 includes at least one frame 102. The left and right ends of the frame 102 are provided with a splicing part 103. When there are two or more frames 102, the adjacent frames 102 and the frames 102 are detachably spliced ​​through the splicing part 103, and the number of frames 102 can be conveniently increased or decreased to extend or shorten the length of the frame 101. The frame 101 can include one or more frames 102 to adapt to the increase or decrease in the number of photovoltaic modules 401. The photovoltaic module 401 cleaning robot walks on the photovoltaic module 401 through the walking mechanism 201. Usually, the walking mechanism 201 will walk on the side of the photovoltaic module 401 panel, and will not walk in the middle of the photovoltaic module 401 panel to reduce damage to the light-receiving surface. The frame 102 is provided with a connection portion that can be connected to the walking mechanism 201. The walking mechanism 201 has a modular structure. The vertical plate 202 is provided with walking wheels 203, a drive motor 204 and a motor controller 209 for driving the drive motor 204. Then the vertical plate 202 is installed on the connection portion on the frame 102; when the number of frames 102 is increased or decreased, the walking mechanism 201 can be removed by removing the vertical plate 202, and then the walking mechanism 201 can be installed on the connection portion of the appropriate frame 102 to adapt to walking on the photovoltaic modules 401 with a changed number.

[0036] In some specific embodiments of the present invention, the frame 102 includes a plurality of first cross bars 105 extending in the left-right direction, with the left-right direction being the length direction of the frame 102, and the plurality of first cross bars 105 are circumferentially distributed along the length direction of the frame 102, and an intermediate connecting bar is connected between two adjacent first cross bars 105, and the length direction of the intermediate connecting bar is perpendicular to the left-right direction, and the first cross bars 105 and the intermediate connecting bar are both aluminum profile components, and the frame 101 also includes a plurality of first aluminum profile connectors and a plurality of second aluminum profile connectors, and the mutually connected first cross bars 105 and the intermediate connecting bars are fixedly connected by the aluminum profile connectors, and the first cross bars 105 have a connecting groove extending in the left-right direction, and the connecting groove includes the splicing portion 103, and the plurality of first cross bars 105 in two adjacent frames 102 are arranged one by one opposite to each other and are detachably connected by the second aluminum profile connector.

[0037] The frame 102 is formed by splicing aluminum profiles, which are easy to process and splice. The grooves on the aluminum profiles can be used as connecting grooves and can be used as splicing parts 103. The first aluminum connector can be used to conveniently assemble the first horizontal bar 105 and the middle connecting bar into the frame 102, and the second aluminum connector can be used to conveniently splice the two first horizontal bars 105 to splice the two frames 102. The first aluminum connector and the second aluminum connector are commonly used accessories for connecting aluminum profiles. There are various types of aluminum connectors, and suitable aluminum connectors can be flexibly selected according to the shape and placement direction of the aluminum profile. When installing the walking mechanism 201, the vertical plate 202 can be installed on the aluminum profile extending in the left and right directions through the angle code. According to the position of the photovoltaic module 401, the vertical plate 202 and the walking wheel 203 can be adjusted to a position suitable for walking on the photovoltaic module 401, so as to facilitate adjustment to adapt to the position of the photovoltaic module 401.

[0038] In some specific embodiments of the present invention, the connecting groove includes the connecting portion, which is arranged beside the splicing portion 103, and at least one of the two interconnected splicing portions 103 has a walking mechanism 201 connected to its side.

[0039] A walking mechanism 201 is set at the joint position of two adjacent frames 102, and the walking mechanism 201 can play a walking and supporting role; in addition to the two walking mechanisms 201 at both ends of the frame 101, a walking mechanism 201 is also set in the middle of the frame 101, and the walking mechanism 201 walks at the edge position between the two photovoltaic modules 401, and plays a supporting role for the middle part of the frame 101, thereby improving the strength of the joint of the two frames 102 and reducing the downward bending deformation of the middle part of the frame 101; increasing the number of walking mechanisms 201 also increases the friction between the photovoltaic module 401 cleaning robot and the photovoltaic module 401, thereby improving the walking stability.

[0040] In some specific embodiments of the present invention, the present invention also includes two limit assemblies 301, and the two limit assemblies 301 are respectively arranged at the left end and the right end of the frame 101, and the limit assembly 301 includes a limit seat 302 fixedly connected to the frame body 102, and the limit seat 302 is rotatably connected with multiple limit wheels 303 arranged along the up and down directions along the axes, and multiple limit wheels 303 are arranged along the front and back directions. The limit assembly 301 on the left side is arranged on the left side of the walking mechanism 201 located on the far left, and the limit assembly 301 on the right side is arranged on the right side of the walking mechanism 201 located on the far right, and the limit wheel 303 is arranged on the lower side of the walking wheel 203. The two limit assemblies 301 are respectively arranged at the left end and the right end of the frame 101, and the limit wheels 303 in the two limit assemblies 301 are respectively abutted against the leftmost side and the rightmost side of the multiple photovoltaic assemblies 401, so as to limit the left and right directions of the photovoltaic assembly 401 cleaning robot when the photovoltaic assembly 401 walks along the front and back directions on the photovoltaic assembly 401.

[0041] In some specific embodiments of the present invention, a positioning adjustment groove 104 is provided on the frame 102 located on the far left or the far right, and the positioning adjustment groove 104 extends in the left-right direction. The limiting seat 302 is slidably connected to the positioning adjustment groove 104, and a sliding locking member 304 is fixedly connected to the limiting seat 302. The limiting seat 302 is connected and locked with the positioning adjustment groove 104 through the sliding locking member 304. The limiting seat 302 can slide left and right along the positioning adjustment groove 104 on the frame 102, so that the limiting assembly 301 can adapt to the changed number of photovoltaic modules 401 for fine adjustment, play a better limiting role, and more conveniently change the number of photovoltaic modules 401. The limiting seat 302 is connected to the frame 102 through the sliding locking member, and the sliding locking member can be locked on the positioning adjustment groove 104 by screws. The frame 102 is composed of aluminum profile components, and the groove on the aluminum profile can be used as the positioning adjustment groove 104, which is more convenient to adjust and lock.

[0042] In some specific embodiments of the present invention, a lightning protection belt avoidance groove 305 is provided on the limiting wheel 303 along the circumferential direction. A lightning protection belt is provided on the side of some photovoltaic modules 401 to prevent lightning from damaging the photovoltaic modules 401. The lightning protection belt avoidance groove 305 is provided so that the lightning protection belt does not affect the rotation and movement of the limiting wheel 303.

[0043] In some specific embodiments of the present invention, the lower side of the vertical plate 202 is rotatably connected to a plurality of the walking wheels 203, the plurality of the walking wheels 203 are arranged in the front-to-back direction, the vertical plate 202 is rotatably connected to an idler wheel 205 disposed on the upper side of the walking wheel 203, a walking belt 206 is wound around the plurality of the walking wheels 203 and the idler wheel 205, and the vertical plate 202 is also rotatably connected to a tensioning wheel 207 that can tension the walking belt 206. In the existing walking mechanism 201, the walking wheels 203 are in direct contact with the panel of the photovoltaic module 401, which is easy to cause damage to the panel of the photovoltaic module 401 during walking. The present technology adopts a crawler-type walking mechanism 201, which forms a crawler-type structure through multiple walking wheels 203, idler wheels 205 and walking belts 206, and is tensioned by a tensioning wheel 207; multiple walking wheels 203 are installed on the lower side of the vertical plate 202 and have the same height, and the lower side of the walking belt 206 is wrapped around the lower side of multiple walking wheels 203. The walking wheels 203 drive the walking belt 206 to rotate, and the walking belt 206 contacts the panel of the photovoltaic module 401, which causes less damage to the panel of the photovoltaic module 401, and the contact area with the panel of the photovoltaic module 401 is increased, and the friction force is also increased, thereby reducing slipping.

[0044] In some specific embodiments of the present invention, the walking belt 206 is a synchronous belt, and the walking wheel 203 is a synchronous pulley. The synchronous belt is made of rubber material, which causes little damage to the panel of the photovoltaic module 401; and it meshes with the walking wheel 203 to reduce slippage between the walking belt 206 and the walking wheel 203.

[0045] In some specific embodiments of the present invention, there are two idler wheels 205, and the two idler wheels 205 are respectively arranged at the front and rear sides of the plurality of walking wheels 203. The tensioning wheel 207 is arranged between the two idler wheels 205, and the tensioning wheel 207 is pressed against the upper side of the walking belt 206. The vertical plate 202 is provided with a tensioning adjustment groove 208 arranged in the up-down direction, and the tensioning wheel 207 can be connected and locked with the tensioning adjustment groove 208 by sliding up and down. The upper side of the walking belt 206 is wound around the upper sides of the two idler wheels 205, and the tensioning wheel 207 is located between the two idler wheels 205 to press the walking belt 206 downward, so that the walking belt 206 is tensioned, and the structure is simple. The tensioning wheel 207 is connected to the tensioning adjustment groove 208 through a connecting shaft, and the tensioning wheel 207 is rotatably connected to the connecting shaft. The connecting shaft is slid up and down to adjust the position of the tensioning wheel 207. After tensioning, the connecting shaft is positioned with a locking member such as a screw or a nut. The walking mechanism 201 may also include an auxiliary plate arranged on the opposite side of the side of the vertical plate 202 on the walking wheel 203, the auxiliary plate is fixedly connected to the frame 102, the walking wheel 203, the tensioning wheel 207 and the idler wheel 205 are all rotatably connected to the auxiliary plate to improve the strength of the walking mechanism 201, and the auxiliary plate is also provided with a tensioning adjustment groove 208, and the tensioning adjustment groove 208 on the auxiliary plate is arranged opposite to the tensioning adjustment groove 208 on the vertical plate 202.

[0046] The embodiments of the present invention are described in detail above in conjunction with the accompanying drawings, but the present invention is not limited to the above embodiments. Within the scope of knowledge possessed by ordinary technicians in the technical field, various equivalent modifications or substitutions can be made without departing from the spirit of the present invention. These equivalent modifications or substitutions are all included in the scope defined by the claims of this application.

Claims

1. A motion frame structure of a photovoltaic module cleaning robot, characterized in that: include: The frame comprises at least two frames, all of which are arranged in sequence along the left-right direction, and the left and right ends of the frames are provided with splicing parts, and two adjacent frames are detachably connected through the splicing parts; A walking mechanism, the number of which is at least two, at least one of which is provided at the left end and the right end of the frame, the walking mechanism comprising a vertical plate, the vertical plate being rotatably connected with a walking wheel arranged along the axis in the left and right directions, the vertical plate being fixedly connected with a driving motor, the walking wheel being drivingly connected with the driving motor, the frame being provided with a connecting portion, the vertical plate being detachably connected with the connecting portion; The frame includes a plurality of first transverse bars extending in the left-right direction, with the left-right direction being the length direction of the frame, the plurality of first transverse bars being distributed circumferentially along the length direction of the frame, an intermediate connecting bar being connected between two adjacent first transverse bars, the length direction of the intermediate connecting bar being perpendicular to the left-right direction, the first transverse bars and the intermediate connecting bars being both aluminum profile components, the frame also includes a plurality of first aluminum profile connectors and a plurality of second aluminum profile connectors, the first transverse bars and the intermediate connecting bars being connected to each other are fixedly connected by the aluminum profile connectors, the first transverse bars are provided with connecting grooves extending in the left-right direction, the connecting grooves include the splicing portion, the plurality of first transverse bars in two adjacent frames are arranged opposite to each other and are detachably connected by the second aluminum profile connectors; The connecting groove includes the connecting portion, which is arranged beside the splicing portion, and the walking mechanism is connected to the side of at least one of the two splicing portions connected to each other; It also includes two limit assemblies, which are respectively arranged at the left and right ends of the frame, and the limit assemblies include a limit seat fixedly connected to the frame body, and a plurality of limit wheels arranged along the up-down direction are rotatably connected to the limit seat, and a plurality of the limit wheels are arranged along the front-back direction, the limit assembly on the left side is arranged on the left side of the walking mechanism located on the leftmost side, and the limit assembly on the right side is arranged on the right side of the walking mechanism located on the rightmost side, and the limit wheel is arranged on the lower side of the walking wheel; A positioning adjustment groove is provided on the frame body located on the far left or the far right, and the positioning adjustment groove extends in the left-right direction. The limit seat is slidably connected to the positioning adjustment groove, and a sliding locking piece is fixedly connected to the limit seat. The limit seat is connected and locked to the positioning adjustment groove through the sliding locking piece.

2. The motion frame structure of the photovoltaic module cleaning robot according to claim 1, characterized in that: The limiting wheel is provided with a lightning protection belt avoidance groove arranged along the circumferential direction.

3. The motion frame structure of the photovoltaic module cleaning robot according to claim 1, characterized in that: The lower side of the vertical plate is rotatably connected to a plurality of the traveling wheels, the plurality of the traveling wheels are arranged in the front-to-back direction, the vertical plate is rotatably connected to an idler wheel arranged on the upper side of the traveling wheel, a traveling belt is wound around the plurality of the traveling wheels and the idler wheels, and the vertical plate is also rotatably connected to a tensioning wheel for tensioning the traveling belt.

4. The motion frame structure of the photovoltaic module cleaning robot according to claim 3, characterized in that: The walking belt is a synchronous belt.

5. The motion frame structure of the photovoltaic module cleaning robot according to claim 3, characterized in that: There are two idle wheels, and the two idle wheels are respectively arranged on the front and rear sides of the multiple walking wheels. The tensioning wheel is arranged between the two idle wheels, and the tensioning wheel is pressed against the upper side of the walking belt. The vertical plate is provided with a tensioning adjustment groove arranged in the up and down directions, and the tensioning wheel can be slidably connected to and locked in the tensioning adjustment groove.

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