A photovoltaic cleaning robot walking mechanism with suspension

Abstract

The present invention discloses a photovoltaic cleaning robot walking mechanism with suspension, comprising: a power module, a guide clamping module and a chassis, the power module comprising a power wheel and a suspension device, the power wheel connected to the suspension device for moving on a photovoltaic panel, the suspension device connected to the chassis, the guide clamping module comprising an upper guide wheel, the upper guide wheel connected to the chassis for walking on the upper side of the photovoltaic panel. The present invention avoids the risk of the photovoltaic cleaning robot being stuck by the buffering effect of the suspension device, and the photovoltaic cleaning robot is supported only by the upper guide wheel on one side, and the distance between the lower side and the upper side of the photovoltaic panel has no restriction on the photovoltaic cleaning robot, so that the photovoltaic cleaning robot can adapt to photovoltaic panels of different specifications, and the photovoltaic panel is cleaned by the self-propelled photovoltaic cleaning robot, so that there is no need to install additional guide rails, which reduces the cost and construction period, and improves the adaptability of the photovoltaic cleaning robot.

Description

Technical Field

[0001] The invention relates to the technical field of photovoltaic cleaning equipment, and in particular to a photovoltaic cleaning robot walking mechanism with suspension. Background Art

[0002] As one of the green energy sources, photovoltaic power generation has the advantages of sufficient cleanliness, absolute safety, relative extensiveness, indeed long life and maintenance-free, sufficient resources and potential economy, and plays an important role in the long-term energy strategy.

[0003] Due to the influence of weather conditions (smog, rain, snow, dust, oil pollution) and climate conditions, the pollution of photovoltaic solar panels is inevitable, which directly affects the light transmittance and restricts the power generation. In addition, pollution can easily cause hot spot effect of solar panels, leading to damage of photovoltaic components, which directly affects their service life.

[0004] Cleaning photovoltaic solar panels by automatic cleaning robots has the advantages of saving manpower and material resources and improving cleaning efficiency. For example, patent CN214799395U provides a solar photovoltaic cleaning robot device, including: upper and lower tracks are set at the upper and lower edge positions of the inclined solar panels; cleaning rollers are located on the solar panels and rotate to clean surface dust; the walking mechanism includes an upper walking mechanism and a lower walking mechanism, the upper walking mechanism moves on the upper track, and the lower walking mechanism moves on the lower track, and the upper end and lower end of the cleaning roller are respectively set on the upper walking mechanism and the lower walking mechanism; the upper walking mechanism is driven to move along the upper track, and the lower walking mechanism moves along the lower track. It adopts electromechanical control technology and mechanical transmission technology to automatically realize the cleaning of solar panels without the participation of operators, and adopts traditional mature parts such as chains, ropes, gears, etc. to realize the cleaning operation function, with stable mechanical performance and convenient maintenance.

[0005] However, the walking mechanisms (driving wheels, guide wheels) of the existing automatic cleaning robots currently in use are all rigidly connected, without buffering or compensation functions. During operation, the photovoltaic cleaning robots are prone to getting stuck when their driving trajectory is not straight, the working area is not flat enough, or there are slight obstacles. Specific tracks need to be installed to achieve the cleaning function. In addition, when the robot is placed on a photovoltaic panel, its operating structure is fixed and cannot be adjusted to suit photovoltaic panels of different widths. When encountering photovoltaic panels of different widths, the cleaning robot model can only be changed. Summary of the invention

[0006] The present invention provides a photovoltaic cleaning robot walking mechanism with suspension, which is used to solve the technical problems that the current photovoltaic cleaning robot is easy to get stuck, needs to be installed with guide rails and cannot be adapted to adjust photovoltaic panels of different widths.

[0007] In order to solve the above technical problems, the present invention proposes a walking mechanism of a photovoltaic cleaning robot with suspension, including: a power module, a guide clamping module and a chassis, the power module includes a power wheel and a suspension device, the power wheel is connected to the suspension device for moving on the photovoltaic panel, the suspension device is connected to the chassis, the guide clamping module includes an upper guide wheel, and the upper guide wheel is connected to the chassis for walking on the upper side of the photovoltaic panel.

[0008] Furthermore, the guide and clamping module also includes a lower guide wheel, a slide rail, a clamping beam and a driving device, the lower guide wheel, the slide rail and the driving device are all installed on the chassis, the clamping beam is movably installed on the slide rail, the driving device is connected to the clamping beam and is used to drive the clamping beam to move on the slide rail, the lower guide wheel abuts the lower side of the photovoltaic panel, and the upper guide wheel is installed on the clamping beam.

[0009] Furthermore, it also includes an anti-falling device, which includes a roller and a mounting seat, and the roller is mounted on the clamping beam through the mounting seat.

[0010] Furthermore, the lower guide wheel is a long roller, which is rotatably mounted on the chassis. When the photovoltaic cleaning robot is mounted on the photovoltaic panel, the lower guide wheel abuts against the lower side of the photovoltaic panel.

[0011] Furthermore, a shock absorbing device is provided between the upper guide wheel and the clamping cross beam.

[0012] Furthermore, the power module also includes a connecting seat, the connecting seat is installed on the chassis, and the suspension device is installed on the connecting seat.

[0013] Furthermore, the power modules are specifically provided with four groups, wherein the power wheels of at least two groups are driving wheels, and the power wheels of the other power modules are driven wheels.

[0014] Further, when the power wheel is a driven wheel, the power wheel includes a mounting plate and a wheel, the wheel is rotatably mounted on the mounting plate, and the mounting plate is connected to the suspension device.

[0015] Furthermore, when the power wheel is a driving wheel, the power wheel includes a mounting plate, a wheel and a drive motor, the drive motor is fixedly mounted on the mounting plate, the rotating shaft of the drive motor is connected to the wheel, and the mounting plate is connected to the suspension device.

[0016] Furthermore, the suspension device includes an upper support, a suspension slide rod, a spring, a suspension slider, and a lower support. The upper support and the lower support are installed on the connecting seat, the suspension slide rod is installed between the upper support and the lower support, the suspension slider can be slidably installed on the suspension slide rod up and down, the spring is sleeved on the suspension slide rod and is located between the suspension slider and the upper support and / or the lower support, and the mounting plate is fixedly connected to the suspension slider.

[0017] The present invention has the following beneficial effects: a photovoltaic cleaning robot walking mechanism with suspension of the present invention, a suspension device is arranged between the power wheel and the chassis, through the buffering effect of the suspension device, when the photovoltaic cleaning robot encounters situations where the driving trajectory is not straight, the working area is not flat enough, there are slight obstacles, etc., the suspension device will play a certain compensation role through the internal spring expansion and contraction, thereby avoiding the risk of the photovoltaic cleaning robot being stuck, and the upper guide wheel is arranged on the upper side of the photovoltaic panel so that the photovoltaic cleaning robot can be installed on the photovoltaic panel. Since it is only supported on one side by the upper guide wheel, the distance from the lower side to the upper side of the photovoltaic panel has no restriction on the photovoltaic cleaning robot, so that the photovoltaic cleaning robot can adapt to photovoltaic panels of different specifications, and the photovoltaic panel can be cleaned by the self-propelled photovoltaic cleaning robot, so that there is no need to install additional guide rails, which reduces the cost and construction period, and improves the adaptability of the photovoltaic cleaning robot.

[0018] In addition to the above-described purposes, features and advantages, the present invention has other purposes, features and advantages. The present invention will be further described in detail below with reference to the accompanying drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] The drawings constituting a part of this application are used to provide a further understanding of the present invention. The exemplary embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute an improper limitation of the present invention. In the drawings:

[0020] Figure 1 It is a structural schematic diagram of a walking mechanism of a photovoltaic cleaning robot with suspension according to a preferred embodiment of the present invention;

[0021] Figure 2 yes Figure 1 A magnified image of point A;

[0022] Figure 3 This is a structural schematic diagram of a preferred embodiment of the present invention in which a walking mechanism of a photovoltaic cleaning robot with suspension is installed on a photovoltaic panel from one viewing angle;

[0023] Figure 4 This is a structural schematic diagram of another perspective of a photovoltaic cleaning robot walking mechanism with suspension installed on a photovoltaic panel in a preferred embodiment of the present invention;

[0024] Figure 5 It is a structural schematic diagram of a driven wheel of a walking mechanism of a photovoltaic cleaning robot with suspension according to a preferred embodiment of the present invention;

[0025] Figure 6 yes Figure 5 Exploded diagram of

[0026] Figure 7 It is a structural schematic diagram of a driving wheel of a walking mechanism of a photovoltaic cleaning robot with suspension according to a preferred embodiment of the present invention;

[0027] Figure 8 It is a structural schematic diagram of a guide clamping module of a walking mechanism of a photovoltaic cleaning robot with suspension according to a preferred embodiment of the present invention.

[0028] The reference numerals are as follows:

[0029] 100. Power module; 110. Power wheel; 111. Mounting plate; 112. Wheel; 113. Driving motor; 120. Suspension device; 121. Upper support; 122. Suspension slide bar; 123. Spring; 124. Suspension slide bar; 125. Lower support; 130. Connecting seat; 200. Guide clamping module; 210. Upper guide wheel; 220. Lower guide wheel; 230. Slide rail; 240. Clamping beam; 250. Driving device; 300. Anti-fall device; 310. Roller; 320. Mounting seat; 400. Chassis; 500. Photovoltaic panel. DETAILED DESCRIPTION

[0030] The embodiments of the present invention are described in detail below with reference to the accompanying drawings, but the present invention can be implemented in many different ways as defined and covered by the claims.

[0031] In addition, unless otherwise defined, the technical terms or scientific terms used in the description of this application shall be the common meanings understood by the general technicians in the field to which this application belongs. The words "upper", "lower", "left", "right", "center", "vertical", "horizontal", "inside", "outside" and other words indicating orientation used in the description of this application are only used to indicate the relative direction or positional relationship, and do not imply that the device or element must have a specific orientation, be constructed and operated in a specific orientation. When the absolute position of the described object changes, its relative positional relationship may also change accordingly, so it cannot be understood as a limitation on this application. The "first", "second", "third" and similar terms used in the description of this application are only used for descriptive purposes to distinguish different components, and cannot be understood as indicating or implying relative importance. The similar words "one", "one" or "the" used in the description of this application should not be understood as an absolute limitation on quantity, but should be understood as the existence of at least one. The similar words "including" or "comprising" used in the description of this application mean that the elements or objects appearing in front of the word cover the elements or objects listed after the word and their equivalents, without excluding other elements or objects.

[0032] It should also be noted that, unless otherwise clearly specified and limited, the words "installed", "connected", "connected" and similar terms used in the description of this application should be understood in a broad sense. For example, the connection can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, an indirect connection through an intermediate medium, or the internal connection of two components. Technical personnel in the field can understand their specific meanings in this application according to the specific circumstances.

[0033] like Figures 1 to 4 As shown, the walking mechanism of the photovoltaic cleaning robot with suspension in this embodiment includes: a power module 100, a guide clamping module 200 and a chassis 400, the power module 100 includes a power wheel 110 and a suspension device 120, the power wheel 110 is connected to the suspension device 120, and is used to move on the photovoltaic panel 500, the suspension device 120 is connected to the chassis 400, the guide clamping module 200 includes an upper guide wheel 210, and the upper guide wheel 210 is connected to the chassis 400, and is used to walk on the upper side of the photovoltaic panel 500.

[0034] In this embodiment, the walking mechanism of the photovoltaic cleaning robot with suspension is installed at the bottom of the frame, and the cleaning mechanism of the photovoltaic cleaning robot is installed at the top of the frame. The cleaning mechanism of the photovoltaic cleaning robot in this embodiment can adopt any existing cleaning mechanism that can clean the photovoltaic panel 500. Among them, the power module 100 also includes a connecting seat 130, the connecting seat 130 is installed on the chassis 400, and the suspension device 120 is installed on the connecting seat 130. The suspension device 120 is installed on the chassis 400 through the connecting seat 130, which makes it easier to disassemble the suspension device 120.

[0035] Specifically, a suspension device 120 is arranged between the power wheel 110 and the chassis 400. When the robot's driving trajectory is not straight, the working area is not flat enough, there are slight obstacles, etc., the suspension device 120 will play a certain compensation role through the expansion and contraction of the internal spring 123, thereby avoiding the risk of the photovoltaic cleaning robot being stuck. The photovoltaic cleaning robot is installed on the photovoltaic panel 500 with the support of the upper guide wheel 210. Since it is only supported on one side by the upper guide wheel 210, the distance from the lower side to the upper side of the photovoltaic panel 500 does not limit the photovoltaic cleaning robot. Therefore, the photovoltaic cleaning robot of this embodiment can adapt to photovoltaic panels 500 of different specifications. The photovoltaic cleaning robot can walk on the photovoltaic panel 500 by itself to clean the photovoltaic panel 500, so there is no need to install additional guide rails, which reduces the cost and construction period, and improves the adaptability of the photovoltaic cleaning robot.

[0036] In a preferred implementation of the present embodiment, the guide and clamping module 200 also includes a lower guide wheel 220, a slide rail 230, a clamping beam 240 and a driving device 250. The lower guide wheel 220, the slide rail 230 and the driving device 250 are all installed on the chassis 400. The clamping beam 240 is movably installed on the slide rail 230. The driving device 250 is connected to the clamping beam 240 and is used to drive the clamping beam 240 to move on the slide rail 230. The lower guide wheel 220 abuts against the lower side of the photovoltaic panel 500, and the upper guide wheel 210 is installed on the clamping beam 240.

[0037] Among them, the driving device 250 is specifically an electric push rod, which pushes the clamping beam 240 to move on the slide rail 230, thereby adjusting the distance between the upper guide wheel 210 and the lower guide wheel 220. In other embodiments, the driving device 250 can also be a hydraulic push rod, which pushes the clamping beam 240 to move on the slide rail 230 through hydraulic pressure.

[0038] like Figure 2 As shown, since the upper guide wheel 210 is hung on the upper side of the photovoltaic panel 500 and is the main force-bearing wheel, shock absorption is required. Therefore, a shock absorption device 211 is provided between the upper guide wheel 210 and the clamping beam 240 in this embodiment.

[0039] Specifically, the lower guide wheel 220 is a long roller, which can be rotatably installed on the chassis 400. When the photovoltaic cleaning robot is installed on the photovoltaic panel 500, the lower guide wheel 220 abuts against the lower side of the photovoltaic panel 500. The long lower guide wheel 220 allows the lower guide wheel 220 to more conveniently fit the lower side of the photovoltaic panel 500 when the photovoltaic cleaning robot is installed.

[0040] In the walking mechanism of the photovoltaic cleaning robot with suspension in the present embodiment, different numbers of power modules 100 can be selected according to actual needs and the actual size of the photovoltaic panel 500. In the present embodiment, the power modules 100 are specifically provided with four groups. In order to enable the photovoltaic cleaning robot to walk straight, the power wheels 110 of at least two groups of power modules 100 on the same side of the four groups of power modules 100 are active wheels for providing power, and the power wheels 110 of the remaining power modules 100 are driven wheels.

[0041] Since the driving wheel needs to be powered by a driving mechanism, its cost will be higher than that of the driven wheel. Therefore, the cost can be reduced by setting more power wheels 110 as driven wheels. The speed of the driving wheel is controllable. By making the four power wheels 110 operate in a differential mode, the operating posture of the chassis 400 can be adjusted in real time according to actual conditions and differential steering can be achieved. In the event of mechanical jamming, the equipment operation can be restored through control. In this embodiment, in order to enable the photovoltaic cleaning robot to better avoid mechanical jamming, the power wheels 110 of the four power modules 100 all use driving wheels.

[0042] like Figure 5 and Figure 6 As shown, in the walking mechanism of the photovoltaic cleaning robot with suspension in this embodiment, when the power wheel 110 is a driven wheel, the power wheel 110 includes a mounting plate 111 and a wheel 112, and the wheel 112 is rotatably mounted on the mounting plate 111, and the mounting plate 111 is connected to the suspension device 120. The driven wheel only needs to be driven by the driving wheel to rotate, and does not need to provide power itself.

[0043] like Figure 7 As shown, in the walking mechanism of the photovoltaic cleaning robot with suspension in this embodiment, when the power wheel 110 is the driving wheel, the power wheel 110 includes a mounting plate 111, a wheel 112 and a driving motor 113, the driving motor 113 is fixedly mounted on the mounting plate 111, the rotating shaft of the driving motor 113 is connected to the wheel 112, and the mounting plate 111 is connected to the suspension device 120.

[0044] Specifically, the mounting plate 111 is a square steel tube, and the driving motor 113 is mounted on one end of the mounting plate 111 . The rotating shaft of the driving motor 113 passes through the mounting plate 111 and is connected to the wheel 112 to drive the wheel 112 to rotate.

[0045] like Figures 5 to 7 As shown, in the walking mechanism of the photovoltaic cleaning robot with suspension in this embodiment, each power module 100 is provided with two sets of suspension devices 120 with the same structure, and the suspension device 120 includes an upper support 121, a suspension slide bar 122, a spring 123, a suspension slider 124, and a lower support 125. The upper support 121 and the lower support 125 are installed on the connecting seat 130, the suspension slide bar 122 is installed between the upper support 121 and the lower support 125, and the suspension slider 124 can be slidably installed on the suspension On the slide bar 122, the power wheel 110 is fixedly connected to the suspension slider 124, the spring 123 is sleeved on the suspension slide bar 122, and is located between the suspension slider 124 and the upper support 121 and / or the lower support 125. In this embodiment, the spring 123 is specifically located between the suspension slider 124 and the upper support 121. In other embodiments, the spring 123 is respectively located between the suspension slider 124 and the upper support 121 and between the suspension slider 124 and the lower support 125 to achieve the purpose of this embodiment.

[0046] Among them, the suspension slider 124 can slide in the vertical direction in the suspension slide bar 122, and the specific movement amplitude is determined by the elastic coefficient of the spring 123 and the weight of the frame and chassis 400 of the photovoltaic cleaning robot. The weight of the frame and chassis 400 of the photovoltaic cleaning robot is transmitted to the spring 123 through the connecting seat 130, the upper support 121 and the lower support 125, so that the spring 123 is compressed. After the spring 123 is compressed, the suspension slider 124, the mounting plate 111 and the wheel 112 move upward relative to the suspension slide bar 122, so that a flexible connection is formed between the wheel 112 and the chassis 400 to prevent the photovoltaic cleaning robot from getting stuck.

[0047] In a preferred implementation of the present embodiment, the walking mechanism of the photovoltaic cleaning robot with suspension of the present embodiment further includes an anti-fall device 300 , the anti-fall device 300 includes a roller 310 and a mounting seat 320 , and the roller 310 is mounted on the clamping beam 240 through the mounting seat 320 .

[0048] like Figure 4 and Figure 8 As shown, in the walking mechanism of the photovoltaic cleaning robot with suspension in this embodiment, an anti-falling device 300 is also included. The anti-falling device 300 includes a roller 310 and a mounting seat 320. The roller 310 is mounted on the clamping beam 240 through the mounting seat 320.

[0049] When the photovoltaic cleaning robot is installed on the photovoltaic panel 500 , the roller 310 is located on the back side of the photovoltaic panel 500 and does not contact the photovoltaic panel 500 .

[0050] Specifically, the mounting seat 320 is an elevated bracket, one end of which is fixedly mounted on the clamping beam 240, and the other end allows the roller 310 to be rotatably mounted. The mounting seat 320 forms a height difference between the roller 310 and the upper guide wheel 210, so that when the photovoltaic cleaning robot is installed on the photovoltaic panel 500, the roller 310 is located on the back of the photovoltaic panel 500, and the photovoltaic panel 500 is located between the chassis 400 and the roller 310; under normal working conditions, the upper guide wheel 210 and the lower guide wheel 220 move in the center of the upper frame of the photovoltaic panel 500, and the roller 310 does not contact the photovoltaic panel 500. When the upper guide wheel 210 and / or the lower guide wheel 220 deviate from the driving track, the cleaning robot tends to fall, and the roller 310 contacts the back of the photovoltaic panel 500. The roller 310 rolls along the photovoltaic panel 500 as the robot moves forward, playing a supporting and anti-falling role.

[0051] The working principle of this embodiment is as follows: first, the lower guide wheel 220 is made to be close to the lower side of the photovoltaic panel 500, and then the photovoltaic cleaning robot is lowered so that the four power wheels 110 fall on the photovoltaic panel 500, and then the clamping beam 240 is driven by the electric push rod to move so that the upper guide wheel 210 abuts against the upper side of the photovoltaic panel 500, and the photovoltaic cleaning robot is installed on the photovoltaic panel 500 through the upper guide wheel 210 and the lower guide wheel 220. During normal operation, the power wheel 110 rotates on the photovoltaic panel 500 to drive the photovoltaic cleaning robot to move, and the upper guide wheel 210 and the lower guide wheel 220 follow the photovoltaic panel 500. It rolls on both sides. When the robot's driving trajectory (position during work) is not straight, the working area is not flat enough, or there are slight obstacles, the spring 123 of the suspension device 120 can be extended and retracted after overcoming the obstacle to play a certain compensation role, so that a flexible connection is formed between the chassis 400 and the photovoltaic cleaning robot, thereby avoiding the robot from getting stuck. At the same time, when the upper guide wheel 210 and / or the lower guide wheel 220 deviate from the driving track, the cleaning robot tends to fall, and the roller 310 contacts the back of the photovoltaic panel 500. The roller 310 rolls along the photovoltaic panel 500 as the robot moves forward to prevent the photovoltaic cleaning robot from falling.

[0052] The photovoltaic cleaning robot walking mechanism with suspension in the present embodiment realizes the flexible connection between the photovoltaic cleaning robot walking mechanism and the chassis 400, prevents the robot from getting stuck and the motor burning out during operation, and greatly increases the robot's ability to cross rows and overcome obstacles; the photovoltaic cleaning robot's adaptability to photovoltaic panels 500 of different specifications is enhanced by adjusting the spacing between the upper guide wheel 210 and the lower guide wheel 220; and the anti-fall design increases work safety and stability.

[0053] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. For those skilled in the art, the present invention may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. A photovoltaic cleaning robot walking mechanism with suspension, characterized in that: include: A power module (100), a guide clamping module (200) and a chassis (400), wherein the power module (100) comprises a power wheel (110) and a suspension device (120), wherein the power wheel (110) is connected to the suspension device (120) and is used to move on the photovoltaic panel (500), and the suspension device (120) is connected to the chassis (400), and the guide clamping module (200) comprises an upper guide wheel (210), and the upper guide wheel (210) is connected to the chassis (400) and is used to move on the upper side of the photovoltaic panel (500); The guide clamping module (200) further comprises a lower guide wheel (220), a slide rail (230), a clamping beam (240) and a driving device (250); the lower guide wheel (220), the slide rail (230) and the driving device (250) are all mounted on the chassis (400); the clamping beam (240) is movably mounted on the slide rail (230); the driving device (250) is connected to the clamping beam (240) and is used to drive the clamping beam (240) to move on the slide rail (230); the lower guide wheel (220) abuts against the lower side of the photovoltaic panel (500); and the upper guide wheel (210) is mounted on the clamping beam (240); It also includes an anti-fall device (300), the anti-fall device (300) including a roller (310) and a mounting seat (320), the roller (310) being mounted on the clamping beam (240) via the mounting seat (320), the roller (310) being located on the back side of the photovoltaic panel (500) and not in contact with the photovoltaic panel (500).

2. The walking mechanism of a photovoltaic cleaning robot with suspension according to claim 1, characterized in that: The lower guide wheel (220) is a long roller, rotatably mounted on the chassis (400); when the photovoltaic cleaning robot is mounted on the photovoltaic panel (500), the lower guide wheel (220) abuts against the lower side of the photovoltaic panel (500).

3. The walking mechanism of a photovoltaic cleaning robot with suspension according to claim 1, characterized in that: A shock absorbing device (211) is provided between the upper guide wheel (210) and the clamping crossbeam (240).

4. The walking mechanism of a photovoltaic cleaning robot with suspension according to claim 1, characterized in that: The power module (100) further comprises a connection seat (130), wherein the connection seat (130) is mounted on the chassis (400), and the suspension device (120) is mounted on the connection seat (130).

5. The walking mechanism of a photovoltaic cleaning robot with suspension according to claim 4 is characterized in that: The power modules (100) are specifically provided with four groups, wherein the power wheels (110) of at least two groups are driving wheels, and the power wheels (110) of the other power modules (100) are driven wheels.

6. The walking mechanism of a photovoltaic cleaning robot with suspension according to claim 5, characterized in that: When the power wheel (110) is a driven wheel, the power wheel (110) comprises a mounting plate (111) and a wheel (112); the wheel (112) is rotatably mounted on the mounting plate (111); and the mounting plate (111) is connected to the suspension device (120).

7. The walking mechanism of a photovoltaic cleaning robot with suspension according to claim 5, characterized in that: When the power wheel (110) is a driving wheel, the power wheel (110) comprises a mounting plate (111), a wheel (112) and a drive motor (113); the drive motor (113) is fixedly mounted on the mounting plate (111); a rotating shaft of the drive motor (113) is connected to the wheel (112); and the mounting plate (111) is connected to the suspension device (120).

8. A photovoltaic cleaning robot walking mechanism with suspension according to claim 6 or 7, characterized in that: The suspension device (120) comprises an upper support (121), a suspension slide bar (122), a spring (123), a suspension slider (124), and a lower support (125); the upper support (121) and the lower support (125) are mounted on the connecting seat (130); the suspension slide bar (122) is mounted between the upper support (121) and the lower support (125); the suspension slider (124) is mounted on the suspension slide bar (122) in a manner that it can slide up and down; the spring (123) is sleeved on the suspension slide bar (122) and is located between the suspension slider (124) and the upper support (121) and / or the lower support (125); and the mounting plate (111) is fixedly connected to the suspension slider (124).

Images