A photovoltaic cleaning robot with a horizontal roller brush

Abstract

The present invention discloses a photovoltaic cleaning robot with a horizontal roller brush, comprising a frame and a roller brush device, wherein a first drive device, a second drive device, a first chain, and a second chain are mounted on the frame, and the roller brush device comprises a roller brush, a transmission device, and a mounting plate, wherein the first drive device is connected to the first chain, the roller brush device is fixedly connected to the first chain, the second drive device is connected to the second chain, the transmission device is mounted on the mounting plate and connects the second chain and the roller brush, and the mounting plate is slidably mounted on the frame. The present invention drives the roller brush device to move up and down along the length direction of the frame by the first drive device, and drives the second chain to rotate by the second drive device, thereby driving the transmission device to rotate the roller brush, thereby causing the roller brush to rotate while moving up and down and scrubbing the photovoltaic panel, and the first drive device and the second drive device can be mounted at any position of the frame, eliminating the need to separately power the roller brush, thereby reducing the complexity of the photovoltaic cleaning robot while improving its reliability.

Description

Technical Field

[0001] The present invention relates to the technical field of photovoltaic panel cleaning, and in particular to a photovoltaic cleaning robot with a horizontally placed roller brush. Background Art

[0002] The photovoltaic cleaning robot is a device that cleans photovoltaic panels by walking on them and using a cleaning device installed on the robot. In the photovoltaic cleaning robots currently available on the market, the roller brush device is installed perpendicular to the length of the robot. The roller brush device can move up and down along the length of the photovoltaic cleaning robot (or the longitudinal direction of the photovoltaic panel). The photovoltaic cleaning robot stops after walking to a workstation. At this time, the roller brush device moves from top to bottom, and the roller brush can clean the dust on the photovoltaic panel due to its self-rotation; then the robot walks forward one workstation, and at the same time, the roller brush device moves from bottom to top back to the original workstation and then cleans the next workstation, and repeats this process until all photovoltaic panels are cleaned.

[0003] However, since the roller brush device has a roller brush motor to drive the roller brush to rotate, the roller brush device that moves up and down in the photovoltaic cleaning robot needs to be continuously powered. Currently, the power supply method mostly used on the market is nylon drag chain power supply. However, the nylon drag chain is too long to draw power, and it is easy for the drag chain to collapse downward. In addition, since the drag chain is made of plastic, it is not reliable for long-term use in the harsh conditions of photovoltaic power stations in the northwest region, and it is prone to deformation, jamming, and cracking. Summary of the Invention

[0004] The present invention provides a photovoltaic cleaning robot with a horizontally placed roller brush, which is used to solve the technical problem that the roller brush that moves up and down in the current photovoltaic cleaning robot needs to be powered separately.

[0005] In order to solve the above technical problems, the present invention proposes a photovoltaic cleaning robot with a horizontal roller brush, comprising a frame and a roller brush device installed on the frame, the length direction of the roller brush device is perpendicular to the length direction of the frame, and the frame is equipped with a first drive device, a second drive device, a first chain and a second chain, the roller brush device comprises a roller brush, a transmission device and a mounting plate, the first drive device is connected to the first chain, the roller brush device is fixedly connected to the first chain, and when the first drive device drives the first chain to rotate, it drives the roller brush device to move up and down, the second drive device is connected to the second chain, the transmission device is installed on the mounting plate and connects the second chain and the roller brush, the mounting plate is slidably installed on the frame, and when the second drive device drives the second chain to rotate, it drives the transmission device to rotate, and then the transmission device drives the roller brush to rotate.

[0006] Furthermore, the roller brush device also includes a roller brush lifting device, which includes a cam and a driven shaft. The driven shaft is rotatably mounted on the mounting plate, one end of the cam is connected to the driven shaft, and the other end of the cam is fixedly connected to the first chain. When the first chain drives the roller brush device to move upward, the central axis of the cam is perpendicular to the first chain. When the first chain drives the roller brush device to move downward, the central axis of the cam is not perpendicular to the first chain.

[0007] Furthermore, the roller brush lifting device also includes a cam follower, one end of the cam follower is fixedly connected to the driven shaft, and the other end of the cam follower is connected to the roller brush. When the first chain drives the roller brush device to move upward, the cam follower rotates with the driven shaft to lift the roller brush. When the first chain drives the roller brush device to move downward, the cam follower rotates with the driven shaft to drop the roller brush onto the photovoltaic panel.

[0008] Furthermore, the transmission device includes a main transmission shaft and a main transmission sprocket, the main transmission shaft is rotatably mounted on the mounting plate, the main transmission sprocket is fixed on the main transmission shaft, the main transmission sprocket engages the second chain, and the roller brush is connected to the main transmission shaft.

[0009] Furthermore, the transmission device also includes two idler wheels, which are rotatably mounted on the mounting plate. The two idler wheels are respectively arranged on the upper and lower sides of the main transmission sprocket and engage with the second chain.

[0010] Furthermore, the roller brush device also includes a roller brush bracket, which includes a support frame, a driving wheel and a third chain. The roller brush is rotatably mounted on the support frame, the transmission device is connected to the driving wheel, and the driving wheel is connected to the roller brush through the third chain.

[0011] Furthermore, a chain tensioning device is provided at the end of the frame away from the first driving device and the second driving device, and the chain tensioning device includes a first tensioning sprocket, a second tensioning sprocket and a mounting frame, the mounting frame is fixed to the frame, the first tensioning sprocket and the second tensioning sprocket are mounted on the mounting frame and their positions are adjustable, the first tensioning sprocket engages with the first chain, and the second tensioning sprocket engages with the second chain.

[0012] Furthermore, a walking mechanism is provided on the frame, and the walking mechanism includes a driving wheel drive device, a driving wheel and a driven wheel. The driving wheel drive device is installed at the bottom of the frame, and the driving wheel is connected to the driving end of the driving wheel drive device. When the photovoltaic cleaning robot is installed on the photovoltaic panel, the driving wheel and the driven wheel fall on the photovoltaic panel.

[0013] Furthermore, the walking mechanism also includes upper walking wheels. When the photovoltaic cleaning robot is installed on the photovoltaic panel, the upper walking wheels fall on the upper side of the photovoltaic panel.

[0014] Furthermore, the frame is also provided with a hoisting device for hoisting the photovoltaic cleaning robot.

[0015] The present invention has the following beneficial effects: a photovoltaic cleaning robot with a horizontally placed roller brush of the present invention drives the first chain to rotate by a first drive device, thereby driving the roller brush device to move up and down, and drives the second chain to rotate by a second drive device, thereby driving the transmission device to rotate, and then the transmission device drives the roller brush to rotate, so that the roller brush moves up and down on the photovoltaic panel while rotating to brush the photovoltaic panel, and the first drive device and the second drive device can be installed at any position of the frame, and there is no need to separately power the driving roller brush, thereby reducing the complexity of the photovoltaic cleaning robot and improving the reliability of the photovoltaic cleaning robot.

[0016] In addition to the above-described objects, features and advantages, the present invention has other objects, features and advantages. The present invention will be further described in detail below with reference to the accompanying drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] The accompanying drawings, which constitute part of this application, are intended to provide a further understanding of the present invention. The exemplary embodiments of the present invention and their descriptions are intended to explain the present invention and do not constitute an undue limitation of the present invention. In the accompanying drawings:

[0018] Figure 1 This is a schematic structural diagram of a photovoltaic cleaning robot with a horizontally placed roller brush according to a preferred embodiment of the present invention;

[0019] Figure 2 This is an exploded view of the roller brush device of the photovoltaic cleaning robot with the roller brush placed horizontally according to the preferred embodiment of the present invention;

[0020] Figure 3 yes Figure 1 A magnified view of point A;

[0021] Figure 4 yes Figure 1 Enlarged view of point B;

[0022] Figure 5 yes Figure 1 Enlarged view of point C.

[0023] The numbers in the figure represent:

[0024] 1. Frame; 11. First drive device; 12. Second drive device; 13. First chain; 14. Second chain; 15. Chain tensioning device; 151. First tensioning sprocket; 152. Second tensioning sprocket; 153. Mounting frame; 16. Travel mechanism; 161. Driving wheel; 162. Driven wheel; 163. Upper traveling wheel; 17. Lifting device; 2. Roller brush device; 21. Roller brush; 22. Transmission device; 221. Main drive shaft; 222. Main drive sprocket; 223. Idle wheel; 23. Mounting plate; 24. Roller brush lifting device; 241. Cam; 242. Driven shaft; 243. Cam follower; 25. Roller brush bracket; 251. Support frame; 252. Drive wheel; 253. Third chain. DETAILED DESCRIPTION

[0025] The embodiments of the present invention are described in detail below with reference to the accompanying drawings. However, the present invention can be implemented in many different ways as defined and covered by the claims.

[0026] In addition, unless otherwise defined, the technical or scientific terms used in the description of this application should have the ordinary meanings understood by those of ordinary skill in the art to which this application belongs. The words "upper," "lower," "left," "right," "center," "vertical," "horizontal," "inside," and "outside" used in the description of this application are only used to indicate relative directions or positional relationships, and do not imply that the device or component must have a specific orientation, be constructed, or operate in a specific orientation. When the absolute position of the described object changes, its relative positional relationship may also change accordingly. Therefore, they should not be understood as limitations on this application. The words "first," "second," "third," and similar terms used in the description of this application are used only for descriptive purposes to distinguish different components and should not be understood to indicate or imply relative importance. The words "one," "an," or "the" used in the description of this application should not be understood as absolute limitations on quantity, but should be understood as meaning the presence of at least one. The words "include" or "comprises" and similar terms used in the description of this application mean that the element or object preceding the word includes the elements or objects listed after the word and their equivalents, but does not exclude other elements or objects.

[0027] It should also be noted that, unless otherwise clearly specified and limited, the words "install", "connect", "connect" 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 a connection between two components. Technical personnel in the field can understand their specific meanings in this application according to the specific circumstances.

[0028] like Figure 1 and Figure 3 As shown, the photovoltaic cleaning robot with a horizontal roller brush in this embodiment includes a frame 1 and a roller brush device 2 installed on the frame 1, the length direction of the roller brush device 2 is perpendicular to the length direction of the frame 1, and the frame 1 is provided with a first drive device 11, a second drive device 12, a first chain 13 and a second chain 14, the roller brush device 2 includes a roller brush 21, a transmission device 22 and a mounting plate 23, the first drive device 11 is connected to the first chain 13, and the roller brush device 2 is fixedly connected to the first chain 13. When the first drive device 11 drives the first chain 13 to rotate, it drives the roller brush device 2 to move up and down, the second drive device 12 is connected to the second chain 14, the transmission device 22 is installed on the mounting plate 23 and connects the second chain 14 and the roller brush 21, and the mounting plate 23 is slidably installed on the frame 1, and when the second drive device 12 drives the second chain 14 to rotate, it drives the transmission device 22 to rotate, and then the transmission device 22 drives the roller brush 21 to rotate.

[0029] In this embodiment, the roller brush device 2 has two roller brushes 21, which are symmetrically arranged on both sides of the frame 1, and the length directions of the two roller brushes 21 are perpendicular to the length direction of the frame 1. The first drive device 11 and the second drive device 12 are specifically motors and drive wheels, and the first chain 13 and the second chain 14 are respectively engaged with the drive wheels of the first drive device 11 and the second drive device 12.

[0030] like Figure 2 and Figure 5 As shown, in the photovoltaic cleaning robot with a horizontal roller brush in this embodiment, the roller brush device 2 also includes a roller brush lifting device 24, which includes a cam 241 and a driven shaft 242. The driven shaft 242 is rotatably mounted on the mounting plate 23, and one end of the cam 241 is connected to the driven shaft 242. The other end of the cam 241 is fixedly connected to the first chain 13. When the first chain 13 drives the roller brush device 2 to move upward, the central axis of the cam 241 is perpendicular to the first chain 13. When the first chain 13 drives the roller brush device 2 to move downward, the central axis of the cam 241 is not perpendicular to the first chain 13.

[0031] Among them, since one end of the cam 241 is connected to the driven shaft 242, the other end of the cam 241 is fixedly connected to the first chain 13, and the driven shaft 242 can rotate, blocks that limit the maximum rotation angle of the driven shaft 241 are set at both ends of the driven shaft 242. When the first chain 13 rotates, it will pull the cam 241 to rotate, and the driven shaft 242 has a maximum rotation angle limit, so that the first chain 13 drives the roller brush device 2 to move upward. When the roller brush device 2 returns to its position, when the driven shaft 242 rotates to the first maximum angle, the central axis of the cam 241 is perpendicular to the first chain 13. At this time, the distance between the first chain 13 and the driven shaft 242 is the largest, which will lift the roller brush 21. The roller brush 21 is lifted to separate from the photovoltaic panel to prevent dust on the roller brush 21 from sticking. to the panel; and when the first chain 13 drives the roller brush device 2 to move downward, the driven shaft 242 rotates to the second maximum angle. At this time, the central axis of the cam 241 is not perpendicular to the first chain 13, and the distance between the first chain 13 and the driven shaft 242 is minimized, which will cause the roller brush 21 to fall onto the photovoltaic panel, and the roller brush 21 can clean the photovoltaic panel. In this embodiment, in order to make the cam 241 support more stable, two sets of cams 241 are set. It should be noted that in other embodiments, the two ends of the driven shaft 242 can also be fixed on the mounting plate 23, and a block can be set at the connection between the cam 241 itself and the driven shaft 242 to limit the maximum rotation position of the cam 241, which can also serve to lift or drop the roller brush 21.

[0032] In the photovoltaic cleaning robot with a horizontal roller brush in this embodiment, the roller brush lifting device 24 also includes a cam follower 243, one end of the cam follower 243 is fixedly connected to the driven shaft 242, and the other end of the cam follower 243 is connected to the roller brush 21. When the first chain 13 drives the roller brush device 2 to move upward, the cam follower 243 rotates with the driven shaft 242 to lift the roller brush 21. When the first chain 13 drives the roller brush device 2 to move downward, the cam follower 243 rotates with the driven shaft 242 to drop the roller brush 21 onto the photovoltaic panel.

[0033] In order to make the roller brush 21 more stable when it is lifted, the present embodiment further provides a cam follower 243, which can rotate following the driven shaft 242, and the maximum rotation angle is limited by the driven shaft 242. When the first chain 13 drives the roller brush device 2 to move upward, the driven shaft 242 rotates to the first maximum angle, and the cam follower 243 and the cam 241 jointly lift the roller brush 21, so that the roller brush 21 is lifted to separate from the photovoltaic panel, preventing dust on the roller brush 21 from sticking to the panel; when the first chain 13 drives the roller brush device 2 to move downward, the driven shaft 242 rotates to the second maximum angle, and the cam follower 243 and the cam 241 rotate together to reduce the distance between the roller brush 21 and the photovoltaic panel, so that the roller brush 21 falls on the photovoltaic panel.

[0034] In the photovoltaic cleaning robot with a horizontal roller brush of this embodiment, the transmission device 22 includes a main transmission shaft 221 and a main transmission sprocket 222. The main transmission shaft 221 is rotatably mounted on the mounting plate 23, and the main transmission sprocket 222 is fixed on the main transmission shaft 221. The main transmission sprocket 222 engages the second chain 14, and the roller brush 21 is connected to the main transmission shaft 221. When the second driving device 12 drives the second chain 14 to rotate, the main transmission sprocket 222 engaged with the second chain 14 also rotates, causing the main transmission shaft 221 to rotate, thereby driving the roller brush 21 to rotate.

[0035] In the photovoltaic cleaning robot with a horizontal roller brush of the present embodiment, the transmission device 22 also includes two idler wheels 223, which are rotatably mounted on the mounting plate 23. The two idler wheels 223 are respectively arranged on the upper and lower sides of the main transmission sprocket 222 and engage the second chain 14. The idler wheels 223 on both sides of the main transmission sprocket 222 make the second chain 14 pass through a specific angle (i.e., increase the wrap angle) when bypassing the main transmission sprocket 222, so as to increase the number of teeth that are simultaneously engaged with the second chain 14 and the main transmission sprocket 222 to ensure the smoothness of power transmission.

[0036] In the photovoltaic cleaning robot with a horizontal roller brush in this embodiment, the roller brush device 2 also includes a roller brush bracket 25, which includes a support frame 251, a driving wheel 252 and a third chain 253. The roller brush 21 is rotatably installed on the support frame 251, the transmission device 22 is connected to the driving wheel 252, and the driving wheel 252 is connected to the roller brush 21 through the third chain 253.

[0037] Among them, in this embodiment, the roller brush bracket 25 also includes an installation side plate, the main transmission shaft 221 passes through the installation side plate and the support frame body 251 to connect the drive wheel 252, the support frame body 251 is installed on the installation side plate and can rotate on the installation side plate, the support frame body 251 is driven by the cam follower 243 to rotate, when the support frame body 251 rotates, it will change the distance between the roller brush 21 and the photovoltaic panel, the main transmission shaft 221 drives the drive wheel 252 to rotate and causes the third chain 253 to rotate, thereby driving the roller brush 21 to rotate.

[0038] like Figure 4As shown, in the photovoltaic cleaning robot with a horizontal roller brush in this embodiment, a chain tensioning device 15 is further provided at the end of the frame 1 away from the first drive device 11 and the second drive device 12. The chain tensioning device 15 includes a first tensioning sprocket 151, a second tensioning sprocket 152 and a mounting frame 153. The mounting frame 153 is fixed to the frame 1. The first tensioning sprocket 151 and the second tensioning sprocket 152 are mounted on the mounting frame 153 and are position-adjustable. The first tensioning sprocket 151 engages the first chain 13, and the second tensioning sprocket 152 engages the second chain 14. By adjusting the positions of the first tensioning sprocket 151 and the second tensioning sprocket 152 on the mounting frame 153, the distance between the first tensioning sprocket 151 and the first drive device 11 and the distance between the second tensioning sprocket 152 and the second drive device 12 can be changed, thereby changing the tightness of the first chain 13 and the second chain 14 to ensure that the first chain 13 and the second chain 14 do not detach from the sprockets.

[0039] In the photovoltaic cleaning robot with a horizontal roller brush in this embodiment, a walking mechanism 16 is also provided on the frame 1. The walking mechanism 16 includes a driving wheel drive device, a driving wheel 161 and a driven wheel 162. The driving wheel drive device is installed at the bottom of the frame 1, and the driving wheel 161 is connected to the driving end of the driving wheel drive device. When the photovoltaic cleaning robot is installed on the photovoltaic panel, the driving wheel 161 and the driven wheel 162 fall on the photovoltaic panel. The driving wheel drive device is used to drive the driving wheel 161 to move on the photovoltaic panel, and the driven wheel 162 supports the photovoltaic cleaning robot and follows the movement of the driving wheel 161.

[0040] In the photovoltaic cleaning robot with a horizontal roller brush in this embodiment, the walking mechanism 16 also includes an upper walking wheel 163. When the photovoltaic cleaning robot is installed on the photovoltaic panel, the upper walking wheel 163 falls on the upper side of the photovoltaic panel. The upper walking wheel 163 supports the photovoltaic cleaning robot to prevent it from slipping. The upper walking wheel 163 can be a powered active walking wheel or a driven walking wheel driven by the active wheel 161. In order to make the photovoltaic cleaning robot in this embodiment simpler, the upper walking wheel 163 in this embodiment is a driven walking wheel.

[0041] In the photovoltaic cleaning robot with a horizontal roller brush in this embodiment, a lifting device 17 for lifting the photovoltaic cleaning robot is also provided on the frame 1. The lifting device 17 is used to facilitate external lifting equipment to lift the photovoltaic cleaning robot so that the photovoltaic cleaning robot can land on or leave the photovoltaic panel.

[0042] In the photovoltaic cleaning robot of this embodiment, the roller brush is placed horizontally. Under the cleaning condition, the first drive device 11 drives the roller brush device 2 to move downward through the first chain 13, and the second drive device 12 drives the main transmission shaft 221 to rotate through the second chain 14, thereby driving the roller brush 21 to rotate, so that the roller brush 21 moves downward from above the photovoltaic panel while brushing the photovoltaic panel; under the return condition, the second drive device 12 is stationary, the first drive device 11 reverses, and drives the roller brush device 2 to move upward through the first chain 13. At this time, the cam 241 will drive the driven shaft 242 to rotate to a limited angle, and the rotation of the driven shaft 242 drives the cam follower 243 to rotate, and the rotation of the cam follower 243 drives the support frame 251 to rotate, so that the roller brush 21 is lifted away from the photovoltaic panel to prevent dust on the roller brush from sticking to the panel.

[0043] The foregoing description is merely a preferred embodiment of the present invention and is not intended to limit the present invention. Those skilled in the art will readily appreciate that various modifications and variations of the present invention are possible. Any modifications, equivalent substitutions, or improvements made within the spirit and principles of the present invention are intended to be within the scope of protection of the present invention.

Claims

1. A photovoltaic cleaning robot with a horizontal roller brush, comprising a frame (1) and a roller brush device (2) mounted on the frame (1), wherein the length direction of the roller brush device (2) is perpendicular to the length direction of the frame (1), and is characterized in that: The frame (1) is equipped with a first drive device (11), a second drive device (12), a first chain (13) and a second chain (14); the roller brush device (2) comprises a roller brush (21), a transmission device (22) and a mounting plate (23); the first drive device (11) is connected to the first chain (13); the roller brush device (2) is fixedly connected to the first chain (13); the first drive device (11) drives the first chain (13) to rotate, thereby driving the roller brush device (2) to move up and down; the second drive device (12) is connected to the second chain (14); ), the transmission device (22) is mounted on the mounting plate (23) and connected to the second chain (14) and the roller brush (21), the mounting plate (23) is slidably mounted on the vehicle frame (1), the second driving device (12) drives the second chain (14) to rotate, thereby driving the transmission device (22) to rotate, and then the transmission device (22) drives the roller brush (21) to rotate; the roller brush device (2) also includes a roller brush lifting device (24), the roller brush lifting device (24) includes a cam (241) and a driven shaft (242), the driven shaft (24 2) rotatably mounted on the mounting plate (23), one end of the cam (241) is connected to the driven shaft (242), and the other end of the cam (241) is fixedly connected to the first chain (13); when the first chain (13) drives the roller brush device (2) to move upward, the center axis of the cam (241) is perpendicular to the first chain (13); when the first chain (13) drives the roller brush device (2) to move downward, the center axis of the cam (241) is not perpendicular to the first chain (13); the roller brush lifting device (24) also includes a cam A follower (243), one end of the cam follower (243) is fixedly connected to the driven shaft (242), and the other end of the cam follower (243) is connected to the roller brush (21); when the first chain (13) drives the roller brush device (2) to move upward, the cam follower (243) rotates along with the driven shaft (242), so that the roller brush (21) is lifted; when the first chain (13) drives the roller brush device (2) to move downward, the cam follower (243) rotates along with the driven shaft (242), so that the roller brush (21) falls onto the photovoltaic panel.

2. The photovoltaic cleaning robot with a horizontally placed roller brush according to claim 1, characterized in that: The transmission device (22) comprises a main transmission shaft (221) and a main transmission sprocket (222), wherein the main transmission shaft (221) is rotatably mounted on the mounting plate (23), the main transmission sprocket (222) is fixed on the main transmission shaft (221), the main transmission sprocket (222) engages with the second chain (14), and the roller brush (21) is connected to the main transmission shaft (221).

3. The photovoltaic cleaning robot with a horizontally placed roller brush according to claim 2, characterized in that: The transmission device (22) further comprises two idler wheels (223), which are rotatably mounted on the mounting plate (23). The two idler wheels (223) are respectively arranged on the upper and lower sides of the main transmission sprocket (222) and engage the second chain (14).

4. The photovoltaic cleaning robot with a horizontally placed roller brush according to claim 1, characterized in that: The roller brush device (2) further comprises a roller brush bracket (25), the roller brush bracket (25) comprising a support frame (251), a driving wheel (252) and a third chain (253), the roller brush (21) being rotatably mounted on the support frame (251), the transmission device (22) being connected to the driving wheel (252), and the driving wheel (252) being connected to the roller brush (21) via the third chain (253).

5. The photovoltaic cleaning robot with a horizontally placed roller brush according to claim 1, characterized in that: The frame (1) is further provided with a chain tensioning device (15) at an end away from the first drive device (11) and the second drive device (12). The chain tensioning device (15) comprises a first tensioning sprocket (151), a second tensioning sprocket (152) and a mounting frame (153). The mounting frame (153) is fixed to the frame (1). The first tensioning sprocket (151) and the second tensioning sprocket (152) are mounted on the mounting frame (153) and are positionally adjustable. The first tensioning sprocket (151) engages with the first chain (13), and the second tensioning sprocket (152) engages with the second chain (14).

6. The photovoltaic cleaning robot with a horizontally placed roller brush according to claim 1, characterized in that: The frame (1) is further provided with a walking mechanism (16), the walking mechanism (16) comprising a driving wheel drive device, a driving wheel (161) and a driven wheel (162), the driving wheel drive device being mounted on the bottom of the frame (1), the driving wheel (161) being connected to a driving end of the driving wheel drive device, and when the photovoltaic cleaning robot is mounted on a photovoltaic panel, the driving wheel (161) and the driven wheel (162) fall on the photovoltaic panel.

7. The photovoltaic cleaning robot with a horizontally placed roller brush according to claim 6, characterized in that: The walking mechanism (16) further comprises an upper walking wheel (163). When the photovoltaic cleaning robot is mounted on the photovoltaic panel, the upper walking wheel (163) falls on the upper side of the photovoltaic panel.

8. The photovoltaic cleaning robot with a horizontally placed roller brush according to claim 1, characterized in that: The vehicle frame (1) is also provided with a hoisting device (17) for hoisting the photovoltaic cleaning robot.

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