Crawler-type photovoltaic cleaning robot

Abstract

The invention provides a crawler-type photovoltaic cleaning robot, and relates to the technical field of photovoltaic cleaning equipment, and the crawler-type photovoltaic cleaning robot comprises a left side crawler walking device and a right side crawler walking device which are oppositely arranged, and a main body which is in twisting connection with the left side crawler walking device and the right side crawler walking device through a deflection shaft. One end of the deflection shaft is rotationally connected with the left crawler walking device, and the other end is rotationally connected with the right crawler walking device; the main body further comprises a main body frame which is connected with the left side crawler walking device and the right side crawler walking device in a twisting mode. Therefore, the cable tray has the advantages that the cable tray can adapt to the cable tray with one uphill end and one downhill end, and is not easy to fall off from the cable tray.

Description

Technical Field

[0001] The invention relates to the technical field of photovoltaic cleaning equipment, and in particular to a crawler-type photovoltaic cleaning robot. Background Art

[0002] In order to remove dust and other dirt deposited on the surface of photovoltaic panels to ensure the power generation of photovoltaic panels, some manufacturers choose to use photovoltaic cleaning robots to clean. Common photovoltaic cleaning robots are photovoltaic cleaning robots with wheeled walking devices. Since the photovoltaic cleaning robots have a strong pressure on photovoltaic modules and the photovoltaic modules need to use connecting blocks, the photovoltaic brackets use a large amount of steel and are costly.

[0003] To this end, the Chinese utility model patent with authorization announcement number CN206575373U discloses a photovoltaic cleaning robot that uses crawler walking. Since the contact surface between the photovoltaic panel is increased, the pressure between the photovoltaic components is reduced, thereby reducing the amount of steel used in the photovoltaic bracket. However, this technical solution also has some shortcomings, for example, please refer to Figure 1 and Figure 2 , because the robot body and the crawler walking devices on both sides are rigidly fixed, when encountering a photovoltaic power station using a tracking bracket, for example, different tracking brackets have different drives, and there will be front and rear errors and horizontal deviations during the installation process. There is also a certain angle of torsion between the two ends of the tracking bracket and the drive. This makes the bridge between the two photovoltaic panels appear to be uphill at one end and downhill at the other. At this time, when the existing crawler-type photovoltaic cleaning robot passes through the bridge, it is easy to get stuck or detach from the photovoltaic module, which seriously affects the smooth implementation of the cleaning work.

[0004] Therefore, a crawler-type photovoltaic cleaning robot that can adapt to a bridge frame with one end uphill and the other end downhill and is not easy to fall off the bridge frame needs to be designed. Summary of the invention

[0005] The purpose of the invention is to provide a crawler type photovoltaic cleaning robot to address the defects and shortcomings of the prior art, and to solve at least one of the above technical problems. The robot has the advantages of being adaptable to a bridge frame with one end uphill and the other end downhill, and not being easy to fall off the bridge frame.

[0006] To achieve the above purpose, the invention provides a crawler-type photovoltaic cleaning robot, comprising:

[0007] A left crawler walking device and a right crawler walking device are arranged opposite to each other, and a main body which is torsionally connected to the left crawler walking device and the right crawler walking device through a deflection shaft.

[0008] Optionally, one end of the deflection shaft is rotatably connected to the left crawler walking device, and the other end is rotatably connected to the right crawler walking device; the main body also includes a main frame that is torsionally connected to the left crawler walking device and the right crawler walking device respectively.

[0009] Optionally, the left crawler walking device includes a left bracket, and a left crawler walking wheel group mounted on the left bracket; the right crawler walking device includes a right bracket, and a right crawler walking wheel group mounted on the right bracket; a first shaft sleeve assembly is arranged on the inner side of the left bracket, and the deflection shaft is rotatably connected to the left bracket through the first shaft sleeve assembly; a second shaft sleeve assembly is arranged on the inner side of the right bracket, and the deflection shaft is rotatably connected to the right bracket through the second shaft sleeve assembly.

[0010] Optionally, the first bushing assembly includes two bushing seats arranged in parallel and at intervals on the left bracket, and two bushings rotatably arranged on the deflection shaft and respectively tightly matched with an axial hole of one of the bushing seats.

[0011] Optionally, the sleeve has a tube portion and a retaining ring portion located at one end of the tube portion, and the retaining ring portions of the two sleeves are arranged close to each other on the deflection shaft; the first sleeve assembly also includes a clamping sleeve that is engaged with the deflection shaft and respectively presses the retaining ring portions of the sleeves on both sides through washers.

[0012] Optionally, the main frame includes a front side plate, a rear side plate, and a bottom plate which is rotatably connected to the front side plate at one end, rotatably connected to the rear side plate at the other end, and rotatably connected to the deflection axis at the bottom; the two sides of the front side plate are respectively rotatably connected to the left bracket and the right bracket through a first torsion structure; the two sides of the rear side plate are respectively rotatably connected to the left bracket and the right bracket through a second torsion structure.

[0013] Optionally, the front ends of the left bracket and the right bracket each have a first mounting plate configured in a direction approaching each other; the first torsion structure includes a first circular through hole configured on the first mounting plate, a corresponding waist-shaped hole configured on the front side plate, and a first pin rotatably passed through the first circular through hole and the waist-shaped hole; the rear ends of the left bracket and the right bracket have a second mounting plate configured in a direction approaching each other; the second torsion structure includes an L-shaped plate and a torsion column, the vertical plate of the L-shaped plate is rotatably connected to the second mounting plate, one end of the torsion column is rotatably slidably matched with the horizontal plate of the L-shaped plate, and the other end of the torsion column is fixedly matched with the rear side plate.

[0014] Optionally, two ends of the base plate are rotatably connected to the front side plate and the rear side plate via second pin shafts, respectively, and the bottom of the base plate is rotatably connected to the deflection shaft via an aluminum tube seat.

[0015] Optionally, the left crawler walking wheel group includes a driving pulley and a driven pulley rotatably configured on the outside of the left bracket, a track wrapped around the outer circumference of the driving pulley and the driven pulley, an auxiliary supporting wheel group rotatably configured between the driving pulley and the driven pulley and elastically pressed on the inner side of the track, and a driving motor mounted on the left bracket and driving the driving pulley to rotate.

[0016] Optionally, the auxiliary support wheel group includes a bracket plate, an elastic member, a support wheel mounting plate and a plurality of auxiliary support wheels; the bracket plate is fixedly fitted to the outer side of the left bracket, a plurality of auxiliary support wheels are rotatably arranged on the support wheel mounting plate, and the elastic member is vertically arranged, with one end abutting the bracket plate and the other end abutting the support wheel mounting plate.

[0017] Optionally, the main body also includes a battery assembly and a controller configured on the main body frame, and a cleaning device configured on the front side and / or bottom of the main body frame; the battery assembly is electrically connected to the controller, the left crawler walking device, the right crawler walking device, the controller and the cleaning device; the controller is electrically connected to the left crawler walking device, the right crawler walking device and the cleaning device.

[0018] Compared with the prior art, the advantages of this application are:

[0019] Since the main body of the crawler-type photovoltaic cleaning robot is twistably connected to the left crawler walking device through one end of the deflection axis, and the other end is twistably connected to the right crawler walking device. Therefore, the left crawler walking device and the right crawler walking device can be twisted relative to each other. In this way, the left crawler walking wheel group and the right crawler walking wheel group can walk on two surfaces with different inclination angles at the same time. When the crawler-type photovoltaic cleaning robot walks to a bridge with one end uphill and the other end downhill, the left crawler walking device can rotate around the deflection axis at a certain angle to fit the uphill section or downhill section of the bridge, and the right crawler walking device can rotate around the deflection axis at a certain angle to fit the downhill section or uphill section of the bridge, so that the left crawler walking wheel group and the right crawler walking wheel group of the crawler-type photovoltaic cleaning robot are kept in a fitted state through the bridge, so as to avoid falling off the bridge. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] In order to more clearly illustrate the embodiments of the invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings in the following description are only embodiments of the invention. For ordinary technicians in this field, other drawings can be obtained based on the provided drawings without paying any creative work.

[0021] Figure 1 This is a schematic diagram of the photovoltaic panel and the bridge frame in the embodiment of the invention, and a large angle deviation between the two photovoltaic panels;

[0022] Figure 2 A schematic diagram of a bridge frame in an embodiment of the invention in a state where one side is uphill and the other side is downhill;

[0023] Figure 3 It is a schematic diagram of a partial structure of an embodiment of the invention from one viewing angle;

[0024] Figure 4 It is a schematic diagram of a part of the structure of an embodiment of the invention from another perspective;

[0025] Figure 5 It is a schematic diagram of the exploded structure of part of the embodiment of the invention;

[0026] Figure 6 It is a schematic diagram of the left crawler walking device, the right crawler walking device and the deflection shaft in a twisted state according to an embodiment of the invention;

[0027] Figure 7 It is an exploded schematic diagram of the partial structures of the deflection shaft, the first sleeve assembly and the second sleeve assembly of the embodiment of the invention;

[0028] Figure 8 It is a schematic diagram of the exploded structure of part of the embodiment of the invention;

[0029] Fig. 9 It is a structural schematic diagram of the second torsion structure of the embodiment of the invention;

[0030] Fig.10 It is a front view of the left crawler walking device of an embodiment of the invention.

[0031] Description of Reference Numerals

[0032] 100- crawler photovoltaic cleaning robot;

[0033] 1-left crawler walking device; 11-left bracket; 12-left crawler walking wheel set; 121-driving pulley; 122-driven pulley; 123-crawler; 124-auxiliary support wheel set; 124a-bracket plate; 124b-compression spring; 124c-support wheel mounting plate; 124d-auxiliary support wheel; 13-driving motor; 14-first mounting plate; o1-first circular through hole; 15-second mounting plate;

[0034] 2-right crawler walking device; 21-right bracket; 22-right crawler walking wheel set;

[0035] 3-deflection axis; 31-inner tube; 32-outer tube; 33-connecting rib;

[0036] 4-main frame; 41-front side plate; o2-waist-shaped hole; 42-rear side plate; 43-bottom plate; 44-aluminum tube seat;

[0037] 5-Battery assembly;

[0038] 6- Controller;

[0039] 7-first sleeve assembly; 71-sleeve seat; 72-sleeve; 721-tube; 722-retaining ring; 73-washer; 74-clamping sleeve; 741-clamping sleeve half circle;

[0040] 8-second shaft sleeve assembly;

[0041] 9-second torsion structure; 91-L-shaped plate; 911-vertical plate; 912-horizontal plate; 92-torsion column; 921-column portion; 922-retaining ring;

[0042] 200-Photovoltaic panels;

[0043] 300-Bridge. DETAILED DESCRIPTION

[0044] The following will be combined with the drawings in the embodiments of the invention to clearly and completely describe the technical solutions in the embodiments of the invention. Obviously, the described embodiments are only part of the embodiments of the invention, not all of the embodiments. Based on the embodiments in the invention, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the invention.

[0045] It should be noted that the terms "center", "longitudinal", "lateral", "upper", "lower", "front", "back", "left", "right", "top", "bottom", "inside", "outside", "back", "side", "circumferential" and the like in the invention indicate positions or positional relationships based on the positions or positional relationships shown in the drawings, and are only for the convenience of describing the invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific position, be constructed and operated in a specific position, and therefore cannot be understood as a limitation on the invention. In addition, the words "first", "second" and the like are only used to distinguish multiple components or structures with the same or similar structures, and do not indicate any special limitation on the arrangement order or connection relationship.

[0046] Please refer to Figures 1 to 10 The embodiment of the invention provides a crawler-type photovoltaic cleaning robot 100 for cleaning photovoltaic panels 200 of a photovoltaic power station. The crawler-type photovoltaic cleaning robot 100 includes: a left crawler walking device 1, a right crawler walking device 2, a deflection shaft 3 and a main body.

[0047] The left crawler walking device 1 and the right crawler walking device 2 are arranged opposite to each other. The main body is connected to the left crawler walking device 1 and the right crawler walking device 2 in a torsion-able manner through the deflection shaft 3. In this way, the left crawler walking device 1 and the right crawler walking device 2 can be twisted relative to each other.

[0048] Therefore, when the crawler-type photovoltaic cleaning robot 100 walks to a bridge frame 300 with one end being uphill and the other end being downhill, the left crawler walking device 1 can rotate around the deflection axis 3 by a certain angle to fit the uphill section or downhill section of the bridge frame 300 and the right crawler walking device 2 can rotate around the deflection axis 3 by a certain angle to fit the downhill section or uphill section of the bridge frame 300, thereby making the left crawler walking wheel group 12 and the right crawler walking wheel group 22 of the crawler-type photovoltaic cleaning robot 100 both remain in a fitted state while passing through the bridge frame 300, thus avoiding falling off the bridge frame 300.

[0049] Optionally, in this embodiment, since the main body of the crawler-type photovoltaic cleaning robot 100 is torsionally connected to the left crawler walking device 1 through one end of the deflection shaft 3, and torsionally connected to the right crawler walking device 2 through the other end. Correspondingly, the main body also includes a main frame 4 torsionally connected to the left crawler walking device 1 and the right crawler walking device 2. In this way, the left crawler walking device 1 and the right crawler walking device 2 are relatively rotatably connected together, so that the left crawler walking device 1 and the right crawler walking device 2 can simultaneously walk on two surfaces with different inclination angles.

[0050] Optionally, in the present embodiment, the left crawler walking device 1 includes a left bracket 11 and a left crawler walking wheel group 12, and the left crawler walking wheel group 12 is mounted on the left bracket 11. In the present embodiment, the left crawler walking wheel group 12 is mounted on the outer side of the left bracket 11, and the left crawler walking wheel group 12 can be attached to the surface of the photovoltaic panel 200 or the bridge 300 for walking. The right crawler walking device 2 and the left crawler walking device 1 are relatively configured, including a right bracket 21 and a right crawler walking wheel group 22, and the right crawler walking wheel group 22 is mounted on the right bracket 21. In the present embodiment, the right crawler walking wheel group 22 is mounted on the outer side of the right bracket 21, and the right crawler walking wheel group 22 can be attached to the surface of the photovoltaic panel 200 or the bridge 300 for walking. In this way, when the left crawler walking device 1 and the right crawler walking device 2 are walking, the crawler-type photovoltaic cleaning robot 100 can be driven to walk. Of course, in other embodiments, the left crawler wheel assembly 12 is assembled on the inner side of the left bracket 11, and the right crawler wheel assembly 22 is assembled on the inner side of the right bracket 21, and no specific limitation is made here.

[0051] It can be understood that the main body may also include conventional cleaning robot components such as a battery assembly 5, a controller 6 and a cleaning device (not shown in the figure), which will not be elaborated here.

[0052] In order to realize the rotation connection between the deflection shaft 3 and the left bracket 11 and the right bracket 21, optionally, please refer to Figure 5 and Figure 6 In this embodiment, a first sleeve assembly 7 is disposed inside the left bracket 11, and the deflection shaft 3 is rotatably connected to the left bracket 11 through the first sleeve assembly 7; a second sleeve assembly 8 is disposed inside the right bracket 21, and the deflection shaft 3 is rotatably connected to the right bracket 21 through the second sleeve assembly 8. Of course, in other embodiments, the deflection shaft 3 may also be rotatably connected to the left bracket 11 and the right bracket 21 through a bearing (not shown in the figure), which is not specifically limited here.

[0053] Optionally, see Figure 6 and Figure 7 In this embodiment, the first sleeve assembly 7 includes two sleeve seats 71 and two sleeves 72. The two sleeve seats 71 are arranged on the left bracket 11 in parallel and at intervals, and specifically, they can be arranged on the inner side of the left bracket 11 in parallel and at intervals. The two sleeves 72 can be rotatably arranged on the deflection shaft 3 and can be tightly matched with the shaft hole of one sleeve seat respectively. In this way, the deflection shaft 3 can realize the rotation of the sleeve seat 71 by rotating with the sleeve 72, thereby realizing the rotation of the left bracket 11.

[0054] Optionally, see Figure 7In this embodiment, the sleeve 72 has a tube portion 721 and a retaining ring portion 722 located at one end of the tube portion 721, and the retaining ring portions 722 of the two sleeves 72 are arranged on the deflection shaft 3 close to each other. That is, when the sleeve 72 is tightly fitted on the axial hole of the sleeve seat, the retaining ring portion 722 of the sleeve 72 presses against the side of the sleeve seat 71 close to the other sleeve seat 71. The first sleeve assembly 7 also includes a clamping sleeve 74 that is engaged with the deflection shaft 3 and respectively presses against the retaining ring portions 722 of the sleeves 72 on both sides through washers 73. Specifically, the clamping sleeve 74 is composed of two symmetrically arranged clamping sleeve half circles 741 through bolts (not shown in the figure) to achieve the clamping of the deflection shaft 3. The washer 73 can be made of PTFE polytetrafluoroethylene. In order to reduce the weight of the crawler photovoltaic cleaning robot 100, the deflection shaft 3, the sleeve seat 71, the sleeve 72 and the clamping sleeve 74 are all made of aluminum. Optionally, in this embodiment, the deflection shaft 3 is a double-layer aluminum tube made of aluminum material, that is, the deflection shaft 3 is a double-layer aluminum tube consisting of an inner tube 31 , an outer tube 32 , and a connecting rib 33 connecting the inner tube 31 and the outer tube 32 .

[0055] It can be understood that the structure of the second sleeve assembly 8 and the assembly relationship between the second sleeve assembly 8 and the deflection shaft 3 and the right bracket 21 are similar to those of the first sleeve assembly 7, so they are not described in detail here.

[0056] In order to realize the twistable connection between the main frame 4 and the left bracket 11 and the right bracket 21, optionally, please refer to Figure 4 , Figure 5 and Figure 8 In this embodiment, the main frame 4 includes a front side plate 41, a rear side plate 42 and a bottom plate 43. One end of the bottom plate 43 is rotatably connected to the front side plate 41, the other end is rotatably connected to the rear side plate 42, and the bottom is rotatably connected to the deflection shaft 3. Both sides of the front side plate 41 are rotatably connected to the left bracket 11 and the right bracket 21 through a first torsion structure; both sides of the rear side plate 42 are rotatably connected to the left bracket 11 and the right bracket 21 through a second torsion structure 9.

[0057] Optionally, see Figure 5 and Figure 8In this embodiment, the front ends of the left bracket 11 and the right bracket 21 both have a first mounting plate 14, and the two first mounting plates 14 are arranged in a direction close to each other. Specifically, the first mounting plate 14 can be an angle plate, one side plate of the angle plate is fixedly matched with the left bracket 11 or the right bracket 21, and the other side plate extends inward. The first torsion structure includes a first circular through hole o1 configured on the first mounting plate 14, a corresponding waist-shaped hole o2 configured on the front side plate 41, and a first pin (not shown in the figure) rotatably penetrated through the first circular through hole o1 and the waist-shaped hole o2. In this way, the front side plate 41 is torsionally connected to the first mounting plates 14 on both sides through the cooperation of the first circular through hole o1, the waist-shaped hole o2, and the first pin. Specifically, the two front side plates 41 and the first mounting plate 14 are connected by a first pin shaft, so the front side plates 41 and the first mounting plate 14 can rotate and can be relatively displaced along the length direction of the waist-shaped hole o2. Therefore, when the left crawler walking device 1, the right crawler walking device 2 and the deflection shaft 3 are deflected, the front side plate 41 can be twisted through the first torsion structure and the first mounting plates 14 on the left and right sides to avoid interference.

[0058] Optionally, see Figure 5 , Figure 8 and Fig. 9 In this embodiment, the rear ends of the left bracket 11 and the right bracket 21 have a second mounting plate 15 arranged in a direction close to each other, and the second mounting plate 15 can also be an angle plate. The second torsion structure 9 includes an L-shaped plate 91 and a torsion column 92; the vertical plate 911 of the L-shaped plate 91 is rotatably connected to the second mounting plate 15, that is, the vertical plate 911 of the L-shaped plate 91 and the second mounting plate 15 are connected through a third pin (not shown in the figure). One end of the torsion column 92 is rotatably slidably matched with the horizontal plate 912 of the L-shaped plate 91, and the other end of the torsion column 92 is fixedly matched with the rear side plate 42. That is, the torsion column 92 penetrates the shaft hole on the horizontal plate 912 of the L-shaped plate 91, and can rotate relative to the shaft hole, and can move a certain distance relative to the shaft hole on the horizontal plate 912. Specifically, the torsion column 92 has a column portion 921 and a retaining ring 922 located at the end of the column portion 921. During assembly, the retaining ring 922 of the torsion column 92 is close to one side of the second mounting plate 15, so that the torsion column 92 can not only rotate relative to the L-shaped plate 91, but also slide a certain distance relative to the L-shaped plate 91. In this way, when the left crawler walking device 1, the right crawler walking device 2 and the deflection shaft 3 deflect, the rear side plate 42 can be twisted through the second torsion structure 9 and the second mounting plates 15 on the left and right sides to avoid interference.

[0059] Optionally, see Figure 5 In this embodiment, the two ends of the bottom plate 43 are rotatably connected to the front side plate 41 and the rear side plate 42 through a second pin shaft (not shown in the figure). The bottom of the bottom plate 43 is rotatably connected to the deflection shaft 3 through an aluminum tube seat 44.

[0060] Optionally, see Figure 8 and Fig.10 In this embodiment, the left crawler wheel assembly 12 includes: a driving pulley 121, a driven pulley 122, a crawler belt 123, an auxiliary support wheel assembly 124 and a driving motor 13. The driving pulley 121 and the driven pulley 122 are rotatably arranged on the outside of the left bracket 11 and are located at both ends of the left crawler wheel assembly 12. The crawler belt 123 is wound around the outer periphery of the driving pulley 121 and the driven pulley 122. The auxiliary support wheel assembly 124 is rotatably arranged between the driving pulley 121 and the driven pulley 122, and can be elastically pressed on the inner side of the crawler belt 123. The driving motor 13 is mounted on the left bracket 11 and drives the driving pulley 121 to rotate.

[0061] Optionally, see Fig.10 In this embodiment, the auxiliary support wheel group 124 includes a bracket plate 124a, an elastic member, a support wheel mounting plate 124c and three auxiliary support wheels 124d; the bracket plate 124a is fixedly matched with the outer side of the left bracket 11, and the three auxiliary support wheels 124d are rotatably arranged on the support wheel mounting plate 124c, and the elastic member is vertically arranged, and one end abuts the bracket plate 124a and the other end abuts the support wheel mounting plate 124c. In this way, when the left crawler walking wheel group 12 encounters a raised surface, the elastic deformation of the elastic member can make the crawler 123 always fit the surface of the photovoltaic panel 200 or the bridge 300, so that the crawler photovoltaic cleaning robot 100 can walk more smoothly. Specifically, the elastic member can be a compression spring 124b, which is not specifically limited. In addition, in other embodiments, the number of auxiliary support wheels 124d can also be one, two, four or more, which is not specifically limited.

[0062] It can be understood that the specific structure of the right crawler wheel assembly 22 and the connection relationship with the right bracket 21 are similar to those of the left crawler wheel assembly 12, so they are not described here in detail.

[0063] Optionally, refer to 3 and Figure 5 In this embodiment, the main body also includes a battery assembly 5, a controller 6 and a cleaning device (not shown in the figure). The battery assembly 5 and the controller 6 are arranged on the main frame 4. The cleaning device is arranged on the front side and / or the bottom of the main frame 4. The battery assembly 5 is electrically connected to the controller 6, the left crawler walking device 1, the right crawler walking device 2, the controller 6 and the cleaning device, and is used to supply power to the controller 6, the left crawler walking device 1, the right crawler walking device 2 and the controller 6. The controller 6 is electrically connected to the left crawler walking device 1, the right crawler walking device 2 and the cleaning device, and is used to control the operation of the left crawler walking device 1, the right crawler walking device 2 and the cleaning device. Specifically, the controller 6, the cleaning device and the battery assembly 5 are prior art, so they will not be expanded here.

[0064] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present application, rather than to limit it. Although the present application has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or replace some or all of the technical features therein with equivalents. However, these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present application.

Claims

1. A crawler-type photovoltaic cleaning robot, characterized in that: include: A left crawler walking device (1) and a right crawler walking device (2) are arranged relatively to each other, and a main body which is twistably connected to the left crawler walking device (1) and the right crawler walking device (2) via a deflection shaft (3).

2. The crawler-type photovoltaic cleaning robot according to claim 1, characterized in that: One end of the deflection shaft (3) is rotationally connected to the left crawler walking device (1), and the other end is rotationally connected to the right crawler walking device (2); the main body also includes a main frame (4) which is torsionally connected to the left crawler walking device (1) and the right crawler walking device (2) respectively.

3. The crawler-type photovoltaic cleaning robot according to claim 2, characterized in that: The left crawler walking device (1) comprises a left bracket (11) and a left crawler walking wheel group (12) mounted on the left bracket (11); the right crawler walking device (2) comprises a right bracket (21) and a right crawler walking wheel group (22) mounted on the right bracket (21); a first shaft sleeve assembly (7) is arranged on the inner side of the left bracket (11), and the deflection shaft (3) is rotatably connected to the left bracket (11) through the first shaft sleeve assembly (7); a second shaft sleeve assembly (8) is arranged on the inner side of the right bracket (21), and the deflection shaft (3) is rotatably connected to the right bracket (21) through the second shaft sleeve assembly (8).

4. The crawler-type photovoltaic cleaning robot according to claim 3, characterized in that: The first shaft sleeve assembly (7) comprises two shaft sleeve seats (71) arranged in parallel and at intervals on the left bracket (11), and two shaft sleeves (72) rotatably arranged on the deflection shaft (3) and respectively tightly matched with the shaft hole of one of the shaft sleeve seats (71).

5. The crawler-type photovoltaic cleaning robot according to claim 4, characterized in that: The shaft sleeve (72) comprises a tube portion (721) and a retaining ring portion (722) located at one end of the tube portion (721), and the retaining ring portions (722) of the two shaft sleeves (72) are arranged on the deflection shaft (3) close to each other; the first shaft sleeve assembly (7) also comprises a clamping sleeve (74) which is engaged with the deflection shaft (3) and respectively presses against the retaining ring portions (722) of the shaft sleeves (72) on both sides through a washer (73).

6. The crawler-type photovoltaic cleaning robot according to claim 2, characterized in that: The main frame (4) comprises a front side plate (41), a rear side plate (42), and a bottom plate (43) having one end rotatably connected to the front side plate (41), the other end rotatably connected to the rear side plate (42), and the bottom rotatably connected to the deflection shaft (3); the two sides of the front side plate (41) are respectively rotatably connected to the left bracket (11) and the right bracket (21) through a first torsion structure; the two sides of the rear side plate (42) are respectively rotatably connected to the left bracket (11) and the right bracket (21) through a second torsion structure (9).

7. The crawler-type photovoltaic cleaning robot according to claim 6, characterized in that: The front ends of the left bracket (11) and the right bracket (21) are each provided with a first mounting plate (14) arranged in a direction approaching each other; the first torsion structure comprises a first circular through hole (o1) arranged on the first mounting plate (14), a waist-shaped hole (o2) correspondingly arranged on the front side plate (41), and a first pin rotatably passed through the first circular through hole (o1) and the waist-shaped hole (o2); the rear ends of the left bracket (11) and the right bracket (21) are provided with a second mounting plate (15) arranged in a direction approaching each other; the second torsion structure (9) comprises an L-shaped plate (91) and a torsion column (92); the vertical plate (911) of the L-shaped plate (91) is rotatably connected to the second mounting plate (15), one end of the torsion column (92) is rotatably slidably matched with the horizontal plate (912) of the L-shaped plate (91), and the other end of the torsion column (92) is fixedly matched with the rear side plate (42).

8. The crawler-type photovoltaic cleaning robot according to claim 7, characterized in that: The two ends of the bottom plate (43) are rotatably connected to the front side plate (41) and the rear side plate (42) via second pin shafts, respectively, and the bottom of the bottom plate (43) is rotatably connected to the deflection shaft (3) via an aluminum tube seat (44).

9. The crawler-type photovoltaic cleaning robot according to claim 2, characterized in that: The left crawler walking wheel group (12) comprises a driving pulley (121) and a driven pulley (122) rotatably arranged on the outside of the left bracket (11), a crawler belt (123) wound around the outer periphery of the driving pulley (121) and the driven pulley (122), an auxiliary support wheel group (124) rotatably arranged between the driving pulley (121) and the driven pulley (122) and elastically pressed on the inner side of the crawler belt (123), and a driving motor (13) mounted on the left bracket (11) and driving the driving pulley (121) to rotate.

10. The crawler-type photovoltaic cleaning robot according to claim 9, characterized in that: The auxiliary support wheel group (124) comprises a bracket plate (124a), an elastic member, a support wheel mounting plate (124c) and a plurality of auxiliary support wheels (124d); the bracket plate (124a) is fixedly matched with the outer side of the left bracket (11); the plurality of auxiliary support wheels (124d) are rotatably arranged on the support wheel mounting plate (124c); the elastic member is vertically arranged, with one end abutting against the bracket plate (124a) and the other end abutting against the support wheel mounting plate (124c).

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