A driving mechanism of a photovoltaic cleaning robot

Abstract

The application discloses a driving mechanism of a photovoltaic cleaning robot, which comprises a mounting frame, support plates, walking mechanisms, transmission mechanisms, power mechanisms, automatic ash cleaning and lubricating mechanisms and tensioning mechanisms; one support plate is detachably mounted on the left and right sides of the mounting frame; one walking mechanism is rotatably connected to each support plate; one tensioning mechanism is arranged above each walking mechanism and is mounted on the support plate; two transmission mechanisms are mounted at the bottom of the mounting frame and are engaged with the walking mechanisms; a power mechanism for driving the two transmission mechanisms to move is mounted at the bottom of the mounting frame; and an automatic ash cleaning and lubricating mechanism for cleaning and lubricating the power mechanism is mounted on the mounting frame. The application is convenient for linear movement and steering, convenient for cleaning and lubricating the motor, prevents the output shaft of the motor from being stuck, convenient for tensioning the driving belt and prevents the driving belt from slipping during operation.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of photovoltaic cleaning robots, and particularly relates to a driving mechanism of a photovoltaic cleaning robot. BACKGROUND

[0002] At present, photovoltaic cleaning robots are widely used in power stations, which drive the photovoltaic robot to walk on the photovoltaic panel through a walking mechanism, and clean the photovoltaic panel through a brush while walking, so as to realize automatic back-and-forth cleaning of the photovoltaic panel.

[0003] Chinese patent CN207450058U discloses a track type driving mechanism of a photovoltaic cleaning robot, which comprises a main body structure, a motor driving mechanism and a track type walking mechanism. The motor driving mechanism is arranged on the frame of the main body structure, and comprises a motor fixing frame, a motor and an optical axis. The motor fixing frame is fixedly arranged on the main body structure, and the motor is fixed on the motor fixing frame. The optical axis is two, and is connected with the power output shaft of the motor. The track type walking mechanism is arranged on both sides of the main body structure, and comprises two small-diameter track wheels, two large-diameter track wheels and a track. The track covers the two small-diameter track wheels and the two large-diameter track wheels in the circumferential direction to form a trapezoidal motion mechanism. One of the small-diameter track wheels is connected with the optical axis and serves as a driving wheel. The utility model has a larger contact area with the photovoltaic panel and reduces the pressure on the photovoltaic panel.

[0004] The above patent has two defects in use: 1. The above patent can only move in a straight line and cannot realize turning motion; 2. The above patent lacks dust cleaning and lubrication function for the motor, and the output shaft of the motor lacks lubrication for a long time, which can cause jamming. In addition, some dust can be splashed and floated to the output shaft of the motor when cleaning the photovoltaic panel, which can gradually reduce the lubricity of the output shaft of the motor and even cause the output shaft of the motor to be stuck. Therefore, in view of the above status, it is urgent to develop a driving mechanism of a photovoltaic cleaning robot which can move in a straight line and turn, clean dust and lubricate the motor conveniently, and prevent the output shaft of the motor from being stuck, so as to overcome the deficiencies in current actual application and meet the current needs. SUMMARY

[0005] The present application aims to provide a driving mechanism of a photovoltaic cleaning robot to solve the problems in the background art.

[0006] In order to achieve the above-mentioned purpose, the present application adopts the following technical solutions:

[0007] The utility model provides a kind of drive mechanism of photovoltaic cleaning robot, including mounting bracket, support plate, walking mechanism, transmission mechanism, power mechanism, automatic ash cleaning lubricating mechanism and tensioning mechanism, both sides of the mounting bracket are detachably installed with a support plate, each support plate is rotatably connected with a walking mechanism, the top of each walking mechanism is provided with a tensioning mechanism, the tensioning mechanism is installed on support plate, the bottom of the mounting bracket is installed with two transmission mechanisms, each transmission mechanism is engaged with a walking mechanism, the bottom of the mounting bracket is installed with the power mechanism for driving two transmission mechanisms movement, the mounting bracket is installed with the automatic ash cleaning lubricating mechanism for the ash cleaning lubrication of power mechanism, the transmission mechanism includes: electric telescopic rod, transmission shaft, second bevel gear, third bevel gear and lifting plate, the number of the electric telescopic rod is two, the electric telescopic rod is fixed to the bottom of mounting bracket, the output end bottom of two electric telescopic rods is fixed with lifting plate, the lifting plate is installed with the transmission shaft that it is penetrated, the transmission shaft is rotatably connected with lifting plate by bearing, the top of the transmission shaft is fixedly installed with second bevel gear, the bottom of the transmission shaft is fixedly installed with third bevel gear, the automatic ash cleaning lubricating mechanism includes: lubricating oil storage tank, plug, support leg, oil drip conduit, electromagnetic valve, micro air pump and adapter conduit, the bottom of the lubricating oil storage tank is installed with a plurality of support legs fixed with mounting bracket, the lubricating oil storage tank is made of transparent material, the top of the lubricating oil storage tank is detachably installed with plug, the bottom of the lubricating oil storage tank is installed with oil drip conduit that is penetrated mounting bracket, the side of the lubricating oil storage tank is installed with micro air pump, the micro air pump is installed with adapter conduit connected with oil drip conduit, the oil drip conduit is installed with electromagnetic valve, the connection of adapter conduit and oil drip conduit is below electromagnetic valve.

[0008] Preferably, the walking mechanism comprises: a driving wheel, a driven wheel, a supporting wheel, a drive belt, a first rotating shaft, a second rotating shaft, and a first bevel gear, the driving wheel is rotatably connected to the support plate through the first rotating shaft, the driven wheel is rotatably connected to the support plate through the second rotating shaft, a plurality of supporting wheels are arranged between the driving wheel and the driven wheel, the supporting wheels are rotatably connected to the support plate, the driving wheel, the driven wheel, and the supporting wheels are transmissionally connected through the drive belt, and the first rotating shaft is provided with the first bevel gear.

[0009] Preferably, the third bevel gear is located below the first bevel gear, and the third bevel gear is engaged with the first bevel gear.

[0010] Preferably, the outer side of the drive belt is provided with anti-skid lines.

[0011] Preferably, the power mechanism comprises a driving motor, a driving shaft and fourth bevel gears, the driving motor is fixed to the lower side of the mounting frame, the driving shaft is rotatably connected to the lower side of the mounting frame, the output shaft of the driving motor is connected with the driving shaft, two fourth bevel gears are fixedly installed on the driving shaft, each fourth bevel gear is located directly above a second bevel gear, and each fourth bevel gear is meshed with a second bevel gear.

[0012] Preferably, the oil drip guide pipe is directed to the output shaft of the driving motor.

[0013] Preferably, the tensioning mechanism comprises a threaded sleeve, a threaded rod, a poking rod, an adapter block, a tensioning roller, a limiting guide rod and a limiting baffle, the supporting plate is provided with a mounting groove, a threaded sleeve is rotatably connected to the upper side of the supporting plate, a plurality of poking rods are fixed to the outer side of the threaded sleeve, a threaded rod is installed in the threaded sleeve and penetrates the threaded sleeve, a limiting baffle is fixed to the top of the threaded rod, the bottom of the threaded rod extends into the mounting groove and is fixed with the adapter block, the adapter block is rotatably connected with a tensioning roller, the tensioning roller is located on the upper side of the driving belt, and the left and right sides of the adapter block are both fixed with a limiting guide rod which is inserted into the supporting plate.

[0014] Preferably, the limiting guide rod is slidably connected with the supporting plate, and the supporting plate is provided with a limiting sliding groove for the up-down movement of the limiting guide rod.

[0015] Preferably, a plurality of fastening bolts are installed on the mounting frame, and a plurality of threaded holes for the fastening bolts are arranged on each supporting plate.

[0016] Preferably, a power module and a control processor are installed on the bottom of the mounting frame, and the electric telescopic rod, the driving motor, the electromagnetic valve and the micro air pump are electrically connected with the control processor.

[0017] The present application has the following advantages:

[0018] 1、Moving, through the drive motor drives the drive shaft rotation, through the drive shaft rotation drive fourth bevel gear rotation, through the fourth bevel gear rotation drive second bevel gear rotation, through the second bevel gear rotation drive transmission shaft rotation, through the transmission shaft rotation drive third bevel gear rotation, through the third bevel gear rotation drive first bevel gear rotation, through the first bevel gear rotation drive first rotation shaft rotation, through the first rotation shaft drive driving wheel rotation, through the driving wheel rotation drive belt rotation, through the drive belt rotation drive the whole device moves, when steering, keep one transmission mechanism (at this time the second bevel gear and the fourth bevel gear mesh, the third bevel gear and the first bevel gear mesh), the other transmission mechanism down, through the electric telescopic rod drive lifting plate down, through the lifting plate drive transmission shaft, second bevel gear and third bevel gear down, so that the second bevel gear and the fourth bevel gear separate, the third bevel gear and the first bevel gear separate, so that one of the two transmission mechanism can receive the rotation of the power mechanism and the other cannot receive the rotation of the power mechanism, so that one of the two transmission mechanism can drive the walking mechanism, the other transmission mechanism cannot drive the walking mechanism rotation, so that the speed difference between the two walking mechanism, the deflection in the moving process, realize the function of steering, facilitate straight line movement and steering;

[0019] 2、Lubrication, first close the electromagnetic valve, then open the micro air pump, through the micro air pump to the adapter conduit blow gas, through the adapter conduit to the oil drop conduit gas flow, through the oil drop conduit to the output shaft of the driving motor blow, and then blow off the dust accumulated on the output shaft of the driving motor, then, close the micro air pump open electromagnetic valve, lubricating oil storage tank in the lubricating oil through the oil drop conduit to the output shaft of the driving motor, and then lubricate the output shaft of the driving motor, prevent the output shaft of the driving motor from being stuck;

[0020] 3、Tensioning, rotating the lever with hand, through the lever drive screw sleeve rotation, through the screw sleeve rotation drive screw rod movement, through the screw rod drive adapter block movement, through the adapter block drive tensioning roller movement, so that the tensioning roller down to extrude the driving belt, so that the driving belt is tensioned, prevent the driving belt from slipping when running.

[0021] In summary, the present application facilitates straight line movement and steering; the motor is convenient for dust removal and lubrication, preventing the output shaft of the motor from being stuck; the driving belt is convenient for tensioning, preventing the driving belt from slipping when running. BRIEF DESCRIPTION OF DRAWINGS

[0022] Figure 1 For the three-dimensional structure of the present application Figure 1 .

[0023] Figure 2 For the three-dimensional structure of the present applicationFigure 2 .

[0024] Figure 3 is a schematic diagram of a split state of the present application.

[0025] Figure 4 is a schematic diagram of a partial structure of the present application Figure 1 .

[0026] Figure 5 is a schematic diagram of a partial structure of the present application Figure 2 .

[0027] Figure 6 is a partial view of A in the present application. Figure 4

[0028] Figure 7 is a schematic diagram of a partial structure of the present application Figure 3 .

[0029] Figure 8 is a schematic diagram of a walking mechanism in the present application. Figure 7

[0030] Figure 9 is a schematic diagram of a partial structure of the present application Figure 4 .

[0031] Figure 10 is a schematic diagram of a partial structure of the present application Figure 5 .

[0032] Legend:

[0033] 1, mounting frame; 2, support plate; 201, threaded hole; 202, limiting sliding groove; 203, mounting groove; 3, fastening bolt; 4, walking mechanism; 401, driving wheel; 402, driven wheel; 403, support wheel; 404, drive belt; 4041, anti-skid pattern; 405, first rotating shaft; 406, second rotating shaft; 407, first bevel gear; 5, transmission mechanism; 501, electric telescopic rod; 502, transmission shaft; 503, second bevel gear; 504, third bevel gear; 505, lifting plate; 6, power mechanism; 601, driving motor; 602, driving shaft; 603, fourth bevel gear; 7, automatic ash removal and lubrication mechanism; 701, lubricating oil storage tank; 702, plug; 703, support leg; 704, oil dripping guide pipe; 705, electromagnetic valve; 706, micro air pump; 707, adapter guide pipe; 8, tensioning mechanism; 801, threaded sleeve; 802, threaded rod; 803, toggle lever; 804, adapter block; 805, tensioning roller; 806, limiting guide rod; 807, limiting baffle; 9, power module; 10, control processor. DETAILED DESCRIPTION

[0034] ​​Clearly, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all the other embodiments obtained by a person of ordinary skill in the art without creative effort should belong to the protection scope of the present application.

[0035] The specific embodiments are given below.

[0036] Referring to Figures 1-10The embodiment of the present application discloses a driving mechanism of a photovoltaic cleaning robot, which comprises a mounting frame 1, a support plate 2, fastening bolts 3, a walking mechanism 4, a transmission mechanism 5, a power mechanism 6, an automatic dust cleaning and lubricating mechanism 7, a tensioning mechanism 8, a power module 9 and a control processor 10, a support plate 2 is detachably installed on the left and right sides of the mounting frame 1, a plurality of fastening bolts 3 are installed on the mounting frame 1, a plurality of threaded holes 201 for the fastening bolts 3 are arranged on each support plate 2, the mounting frame 1 and the support plate 2 are fixed together through the fastening bolts 3, when overhauling, the fastening bolts 3 are directly unscrewed, so that the support plate 2 can be separated from the mounting frame 1, a walking mechanism 4 is rotatably connected to each support plate 2, a tensioning mechanism 8 is arranged above each walking mechanism 4 and is installed on the support plate 2, two transmission mechanisms 5 are installed at the bottom of the mounting frame 1, each transmission mechanism 5 is engaged with a walking mechanism 4, a power mechanism 6 for driving the two transmission mechanisms 5 to move is installed at the bottom of the mounting frame 1, an automatic dust cleaning and lubricating mechanism 7 for cleaning and lubricating the power mechanism 6 is installed on the mounting frame 1, the walking mechanism 4 comprises a driving wheel 401, a driven wheel 402, a support wheel 403, a driving belt 404, a first rotating shaft 405, a second rotating shaft 406 and a first bevel gear 407, the driving wheel 401 is rotatably connected to the support plate 2 through the first rotating shaft 405, the driven wheel 402 is rotatably connected to the support plate 2 through the second rotating shaft 406, a plurality of support wheels 403 are arranged between the driving wheel 401 and the driven wheel 402 and are rotatably connected to the support plate 2, the driving wheel 401, the driven wheel 402 and the support wheel 403 are transmissionally connected through the driving belt 404, anti-skid lines 4041 are arranged on the outer side of the driving belt 404, when the driving belt 404 walks on the photovoltaic panel, the anti-skid lines 4041 increase the friction between the driving belt 404 and the photovoltaic panel, so that the driving belt 404 is prevented from slipping, the first bevel gear 407 is installed on the first rotating shaft 405, the transmission mechanism 5 comprises an electric telescopic rod 501, a transmission shaft 502, a second bevel gear 503, a third bevel gear 504 and a lifting plate 505, the number of the electric telescopic rods 501 is two, the electric telescopic rods 501 are fixed to the bottom of the mounting frame 1, the output ends of the two electric telescopic rods 501 are fixed to the lifting plate 505, the transmission shaft 502 penetrating through the lifting plate 505 is installed on the lifting plate 505, the transmission shaft 502 is rotatably connected to the lifting plate 505 through a bearing, the second bevel gear 503 is fixedly installed at the top of the transmission shaft 502, the third bevel gear 504 is fixedly installed at the bottom of the transmission shaft 502, the third bevel gear 504 is located below the first bevel gear 407 and is engaged with the first bevel gear 407, the power mechanism 6 comprises a driving motor 601, a driving shaft 602 and a fourth bevel gear 603, the driving motor 601 is fixed to the lower side of the mounting frame 1, the driving shaft 602 is rotatably connected to the lower side of the mounting frame 1, the output shaft of the driving motor 601 is connected with the driving shaft 602,The fourth bevel gears 603 are fixedly installed on the drive shaft 602, each fourth bevel gear 603 is located directly above a second bevel gear 503, each fourth bevel gear 603 is meshed with a second bevel gear 503, when moving, the drive motor 601 drives the drive shaft 602 to rotate, the drive shaft 602 drives the fourth bevel gear 603 to rotate, the fourth bevel gear 603 drives the second bevel gear 503 to rotate, the second bevel gear 503 drives the transmission shaft 502 to rotate, the transmission shaft 502 drives the third bevel gear 504 to rotate, the third bevel gear 504 drives the first bevel gear 407 to rotate, the first bevel gear 407 drives the first rotating shaft 405 to rotate, the first rotating shaft 405 drives the drive wheel 401 to rotate, the drive wheel 401 drives the drive belt 404 to rotate, the drive belt 404 drives the entire device to move, when steering, one transmission mechanism 5 is kept stationary (at this time the second bevel gear 503 is meshed with the fourth bevel gear 603, and the third bevel gear 504 is meshed with the first bevel gear 407), the other transmission mechanism 5 is lowered, the electric telescopic rod 501 drives the lifting plate 505 to move down, the lifting plate 505 drives the transmission shaft 502, the second bevel gear 503 and the third bevel gear 504 to move down, so that the second bevel gear 503 is separated from the fourth bevel gear 603, the third bevel gear 504 is separated from the first bevel gear 407, and then one of the two transmission mechanisms 5 can receive the rotating force of the power mechanism 6 while the other cannot, so that one of the two transmission mechanisms 5 can drive the walking mechanism 4 while the other cannot, so that a speed difference occurs between the two walking mechanisms 4, causing deflection during movement, achieving the function of steering.

[0037] The automatic ash cleaning and lubricating mechanism 7 comprises a lubricating oil storage tank 701, a plug 702, support legs 703, an oil dripping conduit 704, an electromagnetic valve 705, a micro air pump 706 and an adapter conduit 707. The lubricating oil storage tank 701 is used for storing lubricating oil. The bottom of the lubricating oil storage tank 701 is provided with a plurality of support legs 703 fixed to the mounting frame 1. The lubricating oil storage tank 701 is made of transparent material so as to clearly see the content of the lubricating oil in the lubricating oil storage tank 701. The top of the lubricating oil storage tank 701 is detachably provided with the plug 702 which is fixed to the lubricating oil storage tank 701 through screw threads. The bottom of the lubricating oil storage tank 701 is provided with the oil dripping conduit 704 which penetrates through the mounting frame 1 and is directed to the output shaft of the driving motor 601. The side of the lubricating oil storage tank 701 is provided with the micro air pump 706 which is provided with the adapter conduit 707 connected to the oil dripping conduit 704. The oil dripping conduit 704 is provided with the electromagnetic valve 705. The connection between the adapter conduit 707 and the oil dripping conduit 704 is located below the electromagnetic valve 705. In use, the electromagnetic valve 705 is closed first, then the micro air pump 706 is opened. Air is blown into the adapter conduit 707 through the micro air pump 706. The air flow is delivered into the oil dripping conduit 704 through the adapter conduit 707. The air is blown to the output shaft of the driving motor 601 through the oil dripping conduit 704. The dust accumulated on the output shaft of the driving motor 601 is blown away. Then, the micro air pump 706 is closed and the electromagnetic valve 705 is opened. The lubricating oil in the lubricating oil storage tank 701 falls to the output shaft of the driving motor 601 through the oil dripping conduit 704. The output shaft of the driving motor 601 is lubricated, thereby preventing the output shaft of the driving motor 601 from being stuck.

[0038] The tensioning mechanism 8 comprises a threaded sleeve 801, a threaded rod 802, a poking rod 803, an adapter block 804, a tensioning roller 805, a limiting guide rod 806 and a limiting baffle 807. The support plate 2 is provided with a mounting groove 203, and the threaded sleeve 801 is rotationally connected to the upper portion of the support plate 2. The outer side of the threaded sleeve 801 is fixed with a plurality of poking rods 803, and the threaded sleeve 801 is provided with the threaded rod 802 penetrating through it. The top of the threaded rod 802 is fixed with the limiting baffle 807, and the bottom of the threaded rod 802 extends into the mounting groove 203 and is fixed with the adapter block 804. The adapter block 804 is rotationally connected with the tensioning roller 805, and the tensioning roller 805 is located on the upper side of the driving belt 404. The left and right sides of the adapter block 804 are both fixed with a limiting guide rod 806 inserted into the support plate 2, and the limiting guide rod 806 is slidingly connected with the support plate 2. The support plate 2 is provided with a limiting sliding groove 202 for the limiting guide rod 806 to move up and down. The movement of the adapter block 804 and the threaded rod 802 is limited by the limiting guide rod 806 so that it cannot rotate but only moves linearly. In use, the poking rod 803 is rotated by hand, the threaded sleeve 801 is rotated by the poking rod 803, the threaded rod 802 is moved by the threaded sleeve 801, the adapter block 804 is moved by the threaded rod 802, and the tensioning roller 805 is moved by the adapter block 804. The tensioning roller 805 is moved downward to press the driving belt 404, so that the driving belt 404 is tensioned, preventing the driving belt 404 from slipping during operation.

[0039] The bottom of the mounting frame 1 is provided with a power module 9 and a control processor 10. The power module 9 supplies power to each electrical device, and the electric telescopic rod 501, the driving motor 601, the electromagnetic valve 705 and the micro air pump 706 are electrically connected with the control processor 10. The control processor 10 is controlled by a wireless remote controller for convenient use.

[0040] Working principle: the driving mechanism of the photovoltaic cleaning robot, when moving, the driving motor 601 drives the driving shaft 602 to rotate, the driving shaft 602 drives the fourth bevel gear 603 to rotate, the fourth bevel gear 603 drives the second bevel gear 503 to rotate, the second bevel gear 503 drives the transmission shaft 502 to rotate, the transmission shaft 502 drives the third bevel gear 504 to rotate, the third bevel gear 504 drives the first bevel gear 407 to rotate, the first bevel gear 407 drives the first rotating shaft 405 to rotate, the first rotating shaft 405 drives the driving wheel 401 to rotate, the driving wheel 401 drives the driving belt 404 to rotate, the driving belt 404 drives the whole device to move, when turning, one transmission mechanism 5 is kept stationary (at this time, the second bevel gear 503 is engaged with the fourth bevel gear 603, and the third bevel gear 504 is engaged with the first bevel gear 407), the other transmission mechanism 5 is lowered, the electric telescopic rod 501 drives the lifting plate 505 to move down, the lifting plate 505 drives the transmission shaft 502, the second bevel gear 503 and the third bevel gear 504 to move down, so that the second bevel gear 503 is separated from the fourth bevel gear 603, and the third bevel gear 504 is separated from the first bevel gear 407, thereby making one of the two transmission mechanisms 5 receive the rotating force of the power mechanism 6 and the other unable to receive the rotating force of the power mechanism 6, so that one of the two transmission mechanisms 5 can drive the walking mechanism 4 and the other cannot drive the walking mechanism 4 to rotate, thereby causing a speed difference between the two walking mechanisms 4, causing a deflection during movement, achieving the function of turning;

[0041] When lubricating, first close the electromagnetic valve 705, then open the micro air pump 706, blow air into the adapter conduit 707 through the micro air pump 706, deliver the airflow to the oil dripping conduit 704 through the adapter conduit 707, blow air to the output shaft of the driving motor 601 through the oil dripping conduit 704, thereby blowing off the dust accumulated on the output shaft of the driving motor 601, then close the micro air pump 706 and open the electromagnetic valve 705, the lubricating oil in the lubricating oil storage tank 701 falls onto the output shaft of the driving motor 601 through the oil dripping conduit 704, thereby lubricating the output shaft of the driving motor 601 and preventing the output shaft of the driving motor 601 from being stuck;

[0042] When tensioning, rotate the push rod 803 by hand, drive the threaded sleeve 801 to rotate through the push rod 803, drive the threaded rod 802 to move through the threaded sleeve 801, drive the adapter block 804 to move through the threaded rod 802, drive the tensioning roller 805 to move through the adapter block 804, so that the tensioning roller 805 moves downward to extrude the driving belt 404, thereby tensioning the driving belt 404 and preventing the driving belt 404 from slipping during operation.

[0043] The above merely describes preferred embodiments of the present application, but the protection scope of the present application is not limited thereto, and any person skilled in the art can make equivalent replacements or changes within the technical scope disclosed by the present application and according to the technical solutions and inventive concept of the present application, which should be covered within the protection scope of the present application.

Claims

1. A drive mechanism for a photovoltaic cleaning robot, characterized in that Including installation frame (1), support plate (2), walking mechanism (4), transmission mechanism (5), power mechanism (6), automatic dust removal lubrication mechanism (7) and tensioning mechanism (8), both sides of the installation frame (1) are detachably installed with a support plate (2), each support plate (2) is rotatably connected with a walking mechanism (4), the upper side of each walking mechanism (4) is provided with a tensioning mechanism (8), the tensioning mechanism (8) is installed on the support plate (2), the bottom of the installation frame (1) is provided with two transmission mechanisms (5), each transmission mechanism (5) is engaged with a walking mechanism (4), the bottom of the installation frame (1) is provided with a power mechanism (6) for driving the two transmission mechanisms (5) to move, the installation frame (1) is provided with an automatic dust removal lubrication mechanism (7) for lubricating the power mechanism (6), the transmission mechanism (5) comprises: electric telescopic rod (501), transmission shaft (502), second bevel gear (503), third bevel gear (504) and lifting plate (505), the number of the electric telescopic rod (501) is two, the electric telescopic rod (501) is fixed to the bottom of the installation frame (1), the output end bottom of the two electric telescopic rods (501) is fixed with the lifting plate (505), the lifting plate (505) is provided with a transmission shaft (502) penetrating through it, the transmission shaft (502) is rotatably connected with the lifting plate (505) through a bearing, the top of the transmission shaft (502) is fixedly provided with a second bevel gear (503), the bottom of the transmission shaft (502) is fixedly provided with a third bevel gear (504), the automatic dust removal lubrication mechanism (7) comprises: lubricating oil storage tank (701), plug (702), support leg (703), oil dripping pipe (704), electromagnetic valve (705), micro air pump (706) and adapter pipe (707), a plurality of support legs (703) are fixedly installed on the bottom of the lubricating oil storage tank (701), the lubricating oil storage tank (701) is made of transparent material, the plug (702) is detachably installed on the top of the lubricating oil storage tank (701), the oil dripping pipe (704) penetrating through the installation frame (1) is installed on the bottom of the lubricating oil storage tank (701), the micro air pump (706) is installed on the side of the lubricating oil storage tank (701), the adapter pipe (707) connected with the oil dripping pipe (704) is installed on the micro air pump (706), the electromagnetic valve (705) is installed on the oil dripping pipe (704), and the connection between the adapter pipe (707) and the oil dripping pipe (704) is located below the electromagnetic valve (705).

2. The drive mechanism of the photovoltaic cleaning robot according to claim 1, characterized in that, The walking mechanism (4) comprises a driving wheel (401), a driven wheel (402), a supporting wheel (403), a driving belt (404), a first rotating shaft (405), a second rotating shaft (406) and a first bevel gear (407), the driving wheel (401) is rotatably connected with the supporting plate (2) through the first rotating shaft (405), the driven wheel (402) is rotatably connected with the supporting plate (2) through the second rotating shaft (406), a plurality of supporting wheels (403) are arranged between the driving wheel (401) and the driven wheel (402), the supporting wheels (403) are rotatably connected on the supporting plate (2), the driving wheel (401), the driven wheel (402) and the supporting wheels (403) are drivingly connected through the driving belt (404), and the first bevel gear (407) is installed on the first rotating shaft (405).

3. The drive mechanism of the photovoltaic cleaning robot according to claim 2, wherein, The third bevel gear (504) is located on the lower side of the first bevel gear (407), and the third bevel gear (504) is engaged with the first bevel gear (407).

4. The drive mechanism of the photovoltaic cleaning robot according to claim 2, wherein, The outer side of the driving belt (404) is provided with anti-skid lines (4041).

5. The drive mechanism of the photovoltaic cleaning robot according to claim 2, wherein, The power mechanism (6) comprises a driving motor (601), a driving shaft (602) and a fourth bevel gear (603), the driving motor (601) is fixed to the lower side of the mounting rack (1), the driving shaft (602) is rotatably connected to the lower side of the mounting rack (1), the output shaft of the driving motor (601) is connected with the driving shaft (602), two fourth bevel gears (603) are fixedly installed on the driving shaft (602), each fourth bevel gear (603) is located directly above a second bevel gear (503), and each fourth bevel gear (603) is engaged with a second bevel gear (503).

6. The drive mechanism of the photovoltaic cleaning robot according to claim 5, wherein, The oil drip guide pipe (704) points to the output shaft of the driving motor (601).

7. The drive mechanism of the photovoltaic cleaning robot according to claim 2, wherein, The tensioning mechanism (8) comprises a threaded sleeve (801), a threaded rod (802), a push rod (803), an adapter block (804), a tensioning roller (805), a limiting guide rod (806) and a limiting baffle (807), the supporting plate (2) is provided with a mounting groove (203), a threaded sleeve (801) is rotatably connected to the upper side of the supporting plate (2) of the mounting groove (203), a plurality of push rods (803) are fixed to the outer side of the threaded sleeve (801), a threaded rod (802) penetrating the threaded sleeve (801) is installed in the threaded sleeve (801), a limiting baffle (807) is fixed to the top of the threaded rod (802), the bottom of the threaded rod (802) extends into the mounting groove (203) and is fixed with the adapter block (804), the adapter block (804) is rotatably connected with the tensioning roller (805), the tensioning roller (805) is located on the upper side of the driving belt (404), and the left and right sides of the adapter block (804) are both fixed with a limiting guide rod (806) inserted into the supporting plate (2).

8. The drive mechanism of the photovoltaic cleaning robot according to claim 7, wherein, The limiting guide rod (806) is in sliding connection with the support plate (2), and the support plate (2) is provided with a limiting sliding groove (202) for the up-down movement of the limiting guide rod (806).

9. The drive mechanism of the photovoltaic cleaning robot according to claim 1, wherein, A plurality of fastening bolts (3) are mounted on the mounting frame (1), and each support plate (2) is provided with a plurality of threaded holes (201) for the screwing of the fastening bolts (3).

10. The drive mechanism of the photovoltaic cleaning robot according to claim 5, wherein, A power module (9) and a control processor (10) are mounted at the bottom of the mounting frame (1), and the electric telescopic rod (501), the driving motor (601), the electromagnetic valve (705) and the micro air pump (706) are electrically connected with the control processor (10).

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