A mobile robot for photovoltaic cleaning

Abstract

The present invention relates to a mobile robot for photovoltaic cleaning, comprising: a frame and two mobile chassis, wherein the frame is a gantry frame structure, the two mobile chassis are respectively arranged on the two lower ends of the frame, and the mobile chassis are used for the frame to travel; the mobile chassis comprises a V-beam, two groups of shock-absorbing components, a walking connecting square tube and two groups of walking wheel components. The mobile robot for photovoltaic cleaning of the present invention enhances the stability of the cleaning robot through eight-wheel support, and can better maintain the balance of the whole machine when encountering uneven ground or obstacles. Even if some wheels are temporarily off the ground or unevenly stressed, other wheels can also share the pressure, so that the cleaning robot will not tilt or be unbalanced. The eight-wheel differential can better distribute power during steering, and flexible steering can be achieved by accurately controlling the speed difference of each wheel, thereby improving the steering efficiency and stability during steering, and better transmitting the power of the motor to the wheels for movement and steering.

Description

Technical Field

[0001] The invention relates to the technical field of robots, in particular to a mobile robot for photovoltaic cleaning. Background Art

[0002] With the development of our country, clean energy has gradually become one of the important development directions. Solar energy as a clean energy is highly valued. During the operation of photovoltaic power stations, dust accumulation on photovoltaic panels will greatly reduce the power generation efficiency. Therefore, photovoltaic cleaning robots are designed and applied. Photovoltaic cleaning robots are equipped with automatic guidance devices. They can travel along the specified route to clean photovoltaic panels. Their routes and behaviors can be set and controlled by computers, etc. They are efficient, fast, automated, and safe.

[0003] At present, the following problems have been found in the use of the omnidirectional mobile chassis: Most photovoltaic cleaning robots have a single working mode and are not effective in cleaning stubborn stains, which affects the power generation efficiency of photovoltaic panels. The cleaning range is small and the corners are not cleaned properly. They have poor adaptability and can only be used on some specific photovoltaic panels. They cannot be flexibly applied to photovoltaic panels of different sizes. They have poor obstacle crossing ability and find it difficult to pass through gaps between photovoltaic panels or uneven surfaces and other large obstacles. They have certain requirements for the load-bearing capacity of photovoltaic panels. In addition, the suspension shock absorption is poor, and chassis disturbance has a greater impact on the cleaning operation system. Summary of the invention

[0004] To this end, the technical problem to be solved by the present invention is to overcome the problems in the prior art that the crawler chassis of the photovoltaic cleaning robot has strong obstacle crossing ability but cannot move in all directions; the steering wheel chassis can move in all directions but has insufficient obstacle crossing ability; in addition, the suspension shock absorption is poor and the chassis disturbance has a greater impact on the cleaning operation system.

[0005] To solve the above technical problems, the present invention provides a mobile robot for photovoltaic cleaning, comprising: a frame and two mobile chassis, the frame is a gantry frame structure, the two mobile chassis are respectively arranged on the two lower ends of the frame, and the mobile chassis are used for the frame to walk; wherein the mobile chassis comprises a V-shaped beam, two groups of shock-absorbing assemblies, a walking connecting square tube and two groups of walking wheel assemblies, the V-shaped beam is fixedly connected to the lower end of the frame, the walking connecting square tube is rotatably connected to the V-shaped beam, a shock-absorbing assembly is provided between the end of the V-shaped beam and the end of the walking connecting square tube, and walking wheel assemblies are installed on both ends of the walking connecting square tube, and the walking wheel assembly is used for movement; the shock-absorbing assembly comprises a spring shock absorber and two spring shock absorber mounting seats, the two spring shock absorber mounting seats are respectively installed on the V-shaped beam and the walking connecting square tube, the two ends of the spring shock absorber are respectively hinged to the two spring shock absorber mounting seats, and the spring shock absorber is used for shock absorption. The photovoltaic cleaning mobile robot of the present invention enhances the stability of the cleaning robot through eight-wheel support. The eight wheels provide multiple support points. When encountering uneven ground or obstacles, the balance of the whole machine can be better maintained. Even if some wheels are temporarily off the ground or unevenly stressed, other wheels can share the pressure, so that the cleaning robot will not tilt or be unbalanced. The eight-wheel differential can better distribute power during steering, and flexible steering can be achieved by accurately controlling the speed difference of each wheel, thereby improving steering efficiency and stability during steering, and better transmitting the power of the motor to the wheels for movement and steering.

[0006] In one embodiment of the present invention, the cross-section of the V-shaped beam is "V"-shaped, the two groups of shock absorbing components are symmetrically arranged with the center of the V-shaped beam as the symmetry axis, and the spring shock absorbers of the two groups of shock absorbing components are arranged in an "eight" shape.

[0007] In one embodiment of the present invention, a connecting assembly is provided between the center of the V-shaped beam and the center of the walking connecting square tube, and the connecting assembly includes a V-shaped support seat pressure cover, a V-shaped support shaft pressure cover, a V-shaped support seat, a V-shaped beam base and a V-shaped support shaft. The V-shaped support seat is fixedly connected to the walking connecting square tube by screws, and the V-shaped beam base is locked on the V-shaped beam by screws. The V-shaped support seat and the V-shaped beam base are rotatably connected by the V-shaped support shaft. The V-shaped support shaft pressure cover is arranged on the V-shaped support seat, and the V-shaped support shaft pressure cover covers the end of the V-shaped support shaft, and the V-shaped support seat pressure cover is locked on the V-shaped support seat by screws.

[0008] In one embodiment of the present invention, the walking wheel assembly includes a wheel set connection mechanism and two driving wheels. The wheel set connection mechanism is arranged on the end of the walking connection square tube, and the two driving wheels are installed on the wheel set connection mechanism.

[0009] In one embodiment of the present invention, the wheel group connection mechanism includes a waterproof joint, an encoder mounting seat, a bearing pressure cover, a bearing, a bearing spacer, a bearing spacer, a drive bearing pressure cover, a drive bearing, a rotating shaft, a drive wheel group rotary shaft, a flange bearing sleeve, a drive bearing pressure ring, a drive wheel group rotary seat, a hinge bearing seat and a drive hinge cross plate. The encoder mounting seat is fixedly connected to the walking connection square tube by a stopper and a screw, the waterproof joint is fixedly connected to the encoder mounting seat by a thread, the bearing pressure cover is connected to the drive wheel group rotary shaft by a screw, and the drive wheel group rotary shaft is connected to the drive by a screw. The wheel set swivel seat is connected, the bearing is installed in the flange bearing sleeve, the bearing spacer is connected to the flange bearing sleeve by screws, the bearing spacer and the flange bearing sleeve are used to fix the position of the bearing spacer and the bearing, the driving bearing cover is connected to the rotating shaft by screws, the driving bearing pressure ring is connected and fixed to the driving wheel set swivel seat by screws, the hinge bearing seat is fixedly connected to the driving hinge cross plate by screws, the two ends of the rotating shaft are installed on the driving wheel set swivel seat by driving bearings, and the rotating shaft passes through the hinge bearing seat, and the two ends of the driving hinge cross plate are respectively connected to two driving wheels.

[0010] In one embodiment of the present invention, an encoder is mounted on the encoder mounting seat, the encoder is fixedly connected to the encoder mounting seat by screws, and the encoder is used to detect the position and angle of the driving wheel.

[0011] In one embodiment of the present invention, a circular through hole is provided at the center of the hinge bearing seat, and the rotating shaft passes through the circular through hole.

[0012] In one embodiment of the present invention, the driving wheel includes a walking motor, a driving hinge plate, an internal gear connecting piece, a walking bearing pressure ring, a walking bearing, a reducer assembly, a hub connecting piece, a hub connecting piece pressure cover and a walking tire. The walking motor is connected to the driving hinge plate by screws, and the walking motor transmits power to the reducer assembly through a flat key. The internal gear connecting piece is installed on the driving hinge plate by screws, and the internal gear connecting piece is connected to the reducer assembly. The reducer assembly transmits power to the hub connecting piece through a flat key. The walking bearing is supported between the reducer assembly and the hub connecting piece. The walking bearing pressure ring is connected to the hub connecting piece by screws, and the walking bearing pressure ring pre-tightens the walking bearing. The hub connecting piece is connected to the hub connecting piece pressure cover by screws, and the hub connecting piece is connected to the walking tire by screws. The walking motor is used to drive the walking tire to rotate.

[0013] In one embodiment of the present invention, the driving hinge vertical plate and the driving hinge horizontal plate are vertically arranged, and driving hinge reinforcing ribs are provided at the connecting corners of the driving hinge vertical plate and the driving hinge horizontal plate.

[0014] In one embodiment of the present invention, the driving hinge cross plate is a rectangular plate.

[0015] The above technical solution of the present invention has the following beneficial effects compared with the prior art: The photovoltaic cleaning mobile robot of the present invention has an eight-wheel differential design, which makes the robot more flexible in movement. Compared with the gantry-type steering wheel photovoltaic cleaning robot, the eight-wheel differential photovoltaic cleaning robot is more powerful and more adaptable. When passing through obstacles, the eight-wheel configuration increases the contact area and friction with the ground, making the photovoltaic cleaning robot more stable and not easy to roll over when walking on complex terrain. Multiple sets of wheels work together to have a stronger carrying capacity, and can be equipped with cleaning brushes of different sizes, single-row cleaning or multiple-row cleaning at the same time, large-area, high-efficiency cleaning, saving cleaning time. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] In order to make the content of the present invention more clearly understood, the present invention is further described in detail below according to specific embodiments of the present invention in conjunction with the accompanying drawings, wherein Figure 1 This is a schematic diagram of the overall structure of a mobile robot for photovoltaic cleaning in a preferred embodiment of the present invention; Figure 2 It is a structural schematic diagram of a shock absorbing assembly in a preferred embodiment of the present invention; Figure 3 It is a structural schematic diagram of a traveling wheel assembly in a preferred embodiment of the present invention; Figure 4 It is a schematic diagram of the structure of the driving wheel in the preferred embodiment of the present invention; Figure 5 The posture structure diagram of the driving wheel in the preferred embodiment of the present invention is shown in FIG. Figure 1 ; Figure 6 The posture structure diagram of the driving wheel in the preferred embodiment of the present invention is shown in FIG. Figure 2 ; Figure 7 Analysis of the driving wheel in the preferred embodiment of the present invention Figure 1 ; Figure 8 Analysis of the driving wheel in the preferred embodiment of the present invention Figure 2 ; Fig. 9 Analysis of the driving wheel in the preferred embodiment of the present invention Figure 3 ; Fig.10 This is analysis four of the driving wheel in the preferred embodiment of the present invention.

[0017] Explanation of the markings in the specification: frame 1, mobile chassis 2, V-beam 3, spring shock absorber 4, spring shock absorber mounting seat 5, V-support seat pressure cover 6, V-support shaft pressure cover 7, V-support seat 8, V-beam base 9, V-support shaft 10, waterproof joint 11, encoder mounting seat 12, encoder 13, bearing pressure cover 14, bearing 15, walking connection square tube 16, bearing spacer ring 17, bearing spacer sleeve 18, drive bearing pressure cover 19, drive bearing 20, rotating shaft 21, driving wheel set rotating shaft 22, flange bearing sleeve 23, drive bearing pressure ring 24, driving wheel set rotating seat 25, hinge bearing seat 26, driving hinge cross plate 27, walking motor 28, driving hinge reinforcement rib 29, driving hinge vertical plate 30, internal gear connector 31, walking bearing pressure ring 32, walking bearing 33, reducer assembly 34, hub connector 35, hub connector pressure cover 36, walking tire 37. DETAILED DESCRIPTION

[0018] The present invention is further described below in conjunction with the accompanying drawings and specific embodiments so that those skilled in the art can better understand the present invention and implement it, but the embodiments are not intended to limit the present invention.

[0019] Reference Figure 1 , 2 As shown, the mobile robot for photovoltaic cleaning of the present invention comprises: a frame 1 and two mobile chassis 2, wherein the frame 1 is a gantry frame structure, the two mobile chassis 2 are respectively arranged on the two lower ends of the frame 1, and the mobile chassis 2 is used for the frame 1 to walk; wherein the mobile chassis 2 comprises a V-shaped beam 3, two groups of shock-absorbing components, a walking connecting square tube 16 and two groups of walking wheel components, the V-shaped beam 3 is fixedly connected to the lower end of the frame 1, the walking connecting square tube 16 is rotatably connected to the V-shaped beam 3, a shock-absorbing component is provided between the end of the V-shaped beam 3 and the end of the walking connecting square tube 16, and walking wheel components are installed on both ends of the walking connecting square tube 16, and the walking wheel components are used for movement; the shock-absorbing component comprises a spring shock absorber 4 and two spring shock absorber mounting seats 5, the two spring shock absorber mounting seats 5 are respectively installed on the V-shaped beam 3 and the walking connecting square tube 16, the two ends of the spring shock absorber 4 are respectively hinged to the two spring shock absorber mounting seats 5, and the spring shock absorber 4 is used for shock absorption.

[0020] In the above structure, the cross section of the V-shaped beam 3 is "V"-shaped, the two groups of shock absorbing components are symmetrically arranged with the center of the V-shaped beam 3 as the symmetry axis, and the spring shock absorbers 4 of the two groups of shock absorbing components are arranged in an "eight" shape.

[0021] Reference Figure 2As shown, a connecting assembly is provided between the center of the V-shaped beam 3 and the center of the walking connecting square tube 16, and the connecting assembly includes a V-shaped support seat cover 6, a V-shaped support shaft cover 7, a V-shaped support seat 8, a V-shaped beam base 9 and a V-shaped support shaft 10. The V-shaped support seat 8 is fixedly connected to the walking connecting square tube 16 by screws, and the V-shaped beam base 9 is locked on the V-shaped beam 3 by screws. The V-shaped support seat 8 and the V-shaped beam base 9 are rotatably connected by the V-shaped support shaft 10. The V-shaped support shaft cover 7 is arranged on the V-shaped support seat 8, and the V-shaped support shaft cover 7 covers the end of the V-shaped support shaft 10, and the V-shaped support seat cover 6 is locked on the V-shaped support seat 8 by screws. The door frame 1 is fixedly connected to the V-beam 3, and the V-beam 3 and the V-beam base 9 are fixedly connected by screws; the spring shock absorber mounting seat 5 is fixedly connected to the V-beam 3 and the walking connecting square tube 16 by screws, and the spring shock absorber 4 and the spring shock absorber mounting seat 5 are fixedly connected by screws.

[0022] The traveling wheel assembly comprises a wheel set connection mechanism and two driving wheels. The wheel set connection mechanism is arranged on the end of the traveling connecting square tube 16, and the two driving wheels are mounted on the wheel set connection mechanism.

[0023] Reference Figure 3As shown, the wheel group connection mechanism includes a waterproof joint 11, an encoder mounting seat 12, a bearing pressure cover 14, a bearing 15, a bearing spacer 17, a bearing spacer 18, a drive bearing pressure cover 19, a drive bearing 20, a rotating shaft 21, a drive wheel group rotary shaft 22, a flange bearing sleeve 23, a drive bearing pressure ring 24, a drive wheel group rotary seat 25, a hinge bearing seat 26 and a drive hinge cross plate 27. The encoder mounting seat 12 is fixedly connected to the travel connection square tube 16 through a stop and a screw, the waterproof joint 11 is fixedly connected to the encoder mounting seat 12 through a thread, the bearing pressure cover 14 is connected to the drive wheel group rotary shaft 22 through a screw, and the drive wheel group rotary shaft 22 is connected to the drive wheel group rotary shaft through a screw. The bearing 15 is connected to the rotating seat 25, the bearing 15 is installed in the flange bearing sleeve 23, the bearing spacer 17 is connected to the flange bearing sleeve 23 by screws, the bearing spacer 17 and the flange bearing sleeve 23 are used to fix the position of the bearing spacer 18 and the bearing 15, the driving bearing cover 19 is connected to the rotating shaft 21 by screws, the driving bearing pressure ring 24 is connected and fixed to the driving wheel group rotating seat 25 by screws, the hinge bearing seat 26 is fixedly connected to the driving hinge cross plate 27 by screws, the two ends of the rotating shaft 21 are installed on the driving wheel group rotating seat 25 by driving bearings 20, and the rotating shaft 21 passes through the hinge bearing seat 26, and the two ends of the driving hinge cross plate 27 are respectively connected to two driving wheels. The encoder 13 is installed on the encoder mounting seat 12, and the encoder 13 is fixedly connected to the encoder mounting seat 12 by screws, and the encoder 13 is used to detect the position and angle of the driving wheel. A circular through hole is provided in the center of the hinge bearing seat 26, and the rotating shaft 21 passes through the circular through hole.

[0024] Reference Figure 4As shown, the driving wheel includes a travel motor 28, a driving hinge plate 30, an internal gear connector 31, a travel bearing pressure ring 32, a travel bearing 33, a reducer assembly 34, a hub connector 35, a hub connector gland 36 and a travel tire 37. The travel motor 28 is connected to the driving hinge plate 30 by screws, and the travel motor 28 transmits power to the reducer assembly 34 through a flat key. The internal gear connector 31 is installed on the driving hinge plate 30 by screws, and the internal gear connector 31 and the reducer assembly 37 are connected to each other. 4, the reducer assembly 34 transmits power to the hub connector 35 through a flat key, the travel bearing 33 is supported between the reducer assembly 34 and the hub connector 35, the travel bearing pressure ring 32 is connected to the hub connector 35 through screws, and the travel bearing pressure ring 32 pre-tightens the travel bearing 33, the hub connector 35 is connected to the hub connector gland 36 through screws, the hub connector 35 is connected to the travel tire 37 through screws, and the travel motor 28 is used to drive the travel tire 37 to rotate. The driving hinge vertical plate 30 and the driving hinge horizontal plate 27 are vertically arranged, and a driving hinge reinforcing rib 29 is provided at the connecting corner position of the driving hinge vertical plate 30 and the driving hinge horizontal plate 27. The driving hinge horizontal plate 27 is a rectangular plate.

[0025] Reference Figure 5 , 6 As shown in the figure, when there is an obstacle with a height of H, when the 8-wheel omnidirectional mobile chassis passes through the obstacle with a height of H, the center of gravity of the entire mobile chassis is raised by H\2, and the center of gravity of the entire gantry cleaning robot is raised by H / 4. When the steering wheel omnidirectional mobile chassis passes through an obstacle with a height of H, the center of gravity of the entire mobile chassis is raised by H, and the center of gravity of the entire gantry cleaning robot is raised by H / 2. Compared with the steering wheel omnidirectional mobile chassis, the 8-wheel omnidirectional mobile chassis has less disturbance effect on the gantry cleaning robot when passing through an obstacle.

[0026] The eight-wheeled car can achieve translational motion by controlling the same speed of four sets of two wheels, and achieve rotational motion by differential control. Regardless of whether it is translational motion or rotational motion, the posture of the four-legged two-wheel must be adjusted first to complete the subsequent motion. The following takes the first set of two wheels (wheel 1 and wheel 2) as an example to introduce the basics of the car's motion. When wheel 1 and wheel 2 move in the same direction and at the same speed, the wheel set achieves translational motion, and V1=V2; when wheel 1 and wheel 2 move in opposite directions and at the same speed, the wheel set achieves self-rotational motion, and V1=-V2, and the rotation angular velocity ᵚ a = V1 / (d / 2). In order to more clearly represent the motion of the gantry cleaning robot, take the center O of the whole machine as the origin and establish the following Fig. 9 XOY coordinate system shown.

[0027] Translational motion: First determine the target motion direction of the robot, and adjust the motion direction of the two wheels by controlling the four sets of double wheels to move simultaneously at the same speed, one forward and one reverse. After the adjustment is completed, control the drive wheel set to move in the same direction and speed to the destination according to the target motion.

[0028] Steering motion: When the robot rotates around any point P(a, b) at an angular velocity of θ, the four sets of double wheels must be adjusted to be in line with the center of the wheel set, that is, wheels 1 and 2 are in line with AP, wheels 3 and 4 are in line with BP, wheels 5 and 6 are in line with CP, and wheels 7 and 8 are in line with DP, such as Fig.10 As shown. At this time, P is the instantaneous center of motion, and the linear velocity of wheels 1 to 8 depends on the rotation radius. The coordinates of A, B, C, D after rotation, the rotation radius, and the speed are as follows. (va, vb, vc, vd are the linear velocities of the center of the wheel set A, B, C, D; v1 to v8 are the linear velocities of wheels 1 to 8).

[0029] The coordinates of A, B, C, and D after rotating θ around P(a,b): xa=(x1-a)*cosθ-(y1-b)*sinθ+a;ya=(x1-a)*sinθ+(y1-b)*cosθ+b; xb=(x2-a)*cosθ-(y2-b)*sinθ+a;yb=(x2-a)*sinθ+(y2-b)*cosθ+b; xc=(x3-a)*cosθ-(y3-b)*sinθ+a;yc=(x3-a)*sinθ+(y3-b)*cosθ+b; xd=(x4-a)*cosθ-(y4-b)*sinθ+a;yd=(x4-a)*sinθ+(y4-b)*cosθ+b; A, B, C, D rotation radius: ra=((xa-a)^2+(ya-b)^2)^0.5; rb=((xb-a)^2+(yb-b)^2)^0.5; rc=((xc-a)^2+(yc-b)^2)^0.5; rd=((xd-a)^2+(yd-b)^2)^0.5; Line speed: va=w*ra;v1=w*(ra+d / 2);v2=w*(ra-d / 2); vb=w*rb;v3=w*(rb+d / 2);v4=w*(rb-d / 2); vc=w*rc;v5=w*(rc+d / 2);v6=w*(rc-d / 2); vd=w*rd;v7=w*(rd+d / 2);v8=w*(rd-d / 2); In summary, the eight-wheeled vehicle can achieve omnidirectional movement, and the influence of floor disturbance has little effect on the cleaning vehicle. Its obstacle crossing ability is also stronger than that of traditional cleaning vehicles, and it has practical application value.

[0030] The photovoltaic cleaning robot proposed in the present invention has enhanced stability through eight-wheel support. The eight wheels provide multiple support points. Compared with the steering wheel, it can better maintain the balance of the whole machine when encountering uneven ground or obstacles. Even if some wheels are temporarily off the ground or unevenly stressed, the other wheels can share the pressure, so that the cleaning robot will not tilt or be unbalanced. The use of differential steering can better distribute power during steering, and flexible steering can be achieved by accurately controlling the speed difference of each wheel, thereby improving steering efficiency and stability during steering. The design of eight-wheel differential steering can better transmit the power of the motor to the wheels for movement and steering.

[0031] When the 8-wheel omnidirectional mobile chassis passes through the obstacle with a height of H, the center of gravity of the entire mobile chassis is raised by H\2, and the center of gravity of the entire gantry cleaning robot is raised by H / 4. Compared with other forms of omnidirectional mobile chassis, the 8-wheel omnidirectional mobile chassis has less disturbance effect on the gantry cleaning robot when passing through obstacles.

[0032] The photovoltaic cleaning mobile robot of the present invention can realize the translational motion of the vehicle by means of four sets of double wheels, each set of which is set to the same speed and direction; the vehicle can be turned around any point by controlling the differential rotation of the four sets of double wheels, and both the turning speed and the turning center can be controlled.

[0033] Obviously, the above embodiments are merely examples for clear explanation and are not intended to limit the implementation methods. For those skilled in the art, other different forms of changes or modifications can be made based on the above description. It is not necessary and impossible to list all the implementation methods here. The obvious changes or modifications derived from these are still within the protection scope of the invention.

Claims

1. A mobile robot for photovoltaic cleaning, characterized in that: include: A frame and two mobile chassis, wherein the frame is a gantry frame structure, the two mobile chassis are respectively arranged on two lower ends of the frame, and the mobile chassis are used for the frame to travel; The mobile chassis includes a V-shaped beam, two groups of shock-absorbing components, a walking connection square tube and two groups of walking wheel components. The V-shaped beam is fixedly connected to the lower end of the frame, the walking connection square tube is rotatably connected to the V-shaped beam, a shock-absorbing component is provided between the end of the V-shaped beam and the end of the walking connection square tube, and walking wheel components are installed on both ends of the walking connection square tube, and the walking wheel components are used for movement; The shock absorbing assembly includes a spring shock absorber and two spring shock absorber mounting seats, the two spring shock absorber mounting seats are respectively mounted on the V-beam and the walking connecting square tube, the two ends of the spring shock absorber are respectively hinged to the two spring shock absorber mounting seats, and the spring shock absorber is used for shock absorption.

2. The photovoltaic cleaning mobile robot according to claim 1, characterized in that: The cross section of the V-shaped beam is "V"-shaped, the two groups of shock absorbing components are symmetrically arranged with the center of the V-shaped beam as the symmetry axis, and the spring shock absorbers of the two groups of shock absorbing components are arranged in an "eight" shape.

3. The photovoltaic cleaning mobile robot according to claim 1, characterized in that: A connecting assembly is provided between the center of the V-shaped beam and the center of the walking connecting square tube, and the connecting assembly includes a V-shaped support seat pressure cover, a V-shaped support shaft pressure cover, a V-shaped support seat, a V-shaped beam base and a V-shaped support shaft. The V-shaped support seat is fixedly connected to the walking connecting square tube by screws, and the V-shaped beam base is locked on the V-shaped beam by screws. The V-shaped support seat and the V-shaped beam base are rotatably connected by the V-shaped support shaft. The V-shaped support shaft pressure cover is arranged on the V-shaped support seat, and the V-shaped support shaft pressure cover covers the end of the V-shaped support shaft, and the V-shaped support seat pressure cover is locked on the V-shaped support seat by screws.

4. The photovoltaic cleaning mobile robot according to claim 1, characterized in that: The walking wheel assembly comprises a wheel set connection mechanism and two driving wheels. The wheel set connection mechanism is arranged on the end of the walking connection square tube, and the two driving wheels are installed on the wheel set connection mechanism.

5. The photovoltaic cleaning mobile robot according to claim 4, characterized in that: The wheel group connection mechanism includes a waterproof joint, an encoder mounting seat, a bearing pressure cover, a bearing, a bearing spacer, a bearing spacer, a drive bearing pressure cover, a drive bearing, a rotating shaft, a drive wheel group rotating shaft, a flange bearing sleeve, a drive bearing pressure ring, a drive wheel group rotating seat, a hinge bearing seat and a drive hinge cross plate. The encoder mounting seat is fixedly connected to the travel connection square tube by a stopper and a screw, the waterproof joint is fixedly connected to the encoder mounting seat by a thread, the bearing pressure cover is connected to the drive wheel group rotating shaft by a screw, and the drive wheel group rotating shaft is connected to the drive wheel group rotating seat by a screw. The bearing is installed in the flange bearing sleeve, the bearing spacer is connected to the flange bearing sleeve by screws, the bearing spacer and the flange bearing sleeve are used to fix the position of the bearing spacer and the bearing, the driving bearing cover is connected to the rotating shaft by screws, the driving bearing pressure ring is connected and fixed to the driving wheel group swivel seat by screws, the hinge bearing seat is fixedly connected to the driving hinge cross plate by screws, the two ends of the rotating shaft are installed on the driving wheel group swivel seat by driving bearings, and the rotating shaft passes through the hinge bearing seat, and the two ends of the driving hinge cross plate are respectively connected to two driving wheels.

6. The photovoltaic cleaning mobile robot according to claim 5, characterized in that: An encoder is installed on the encoder mounting seat. The encoder is fixedly connected to the encoder mounting seat through screws, and the encoder is used to detect the position and angle of the driving wheel.

7. The photovoltaic cleaning mobile robot according to claim 5, characterized in that: A circular through hole is provided at the center of the hinge bearing seat, and the rotating shaft passes through the circular through hole.

8. The photovoltaic cleaning mobile robot according to claim 5, characterized in that: The driving wheel includes a walking motor, a driving hinge plate, an internal gear connecting piece, a walking bearing pressure ring, a walking bearing, a reducer assembly, a hub connecting piece, a hub connecting piece pressure cover and a walking tire. The walking motor is connected to the driving hinge plate by screws, and the walking motor transmits power to the reducer assembly through a flat key. The internal gear connecting piece is installed on the driving hinge plate by screws, and the internal gear connecting piece is connected to the reducer assembly. The reducer assembly transmits power to the hub connecting piece through a flat key. The walking bearing is supported between the reducer assembly and the hub connecting piece. The walking bearing pressure ring is connected to the hub connecting piece by screws, and the walking bearing pressure ring pre-tightens the walking bearing. The hub connecting piece is connected to the hub connecting piece pressure cover by screws, and the hub connecting piece is connected to the walking tire by screws. The walking motor is used to drive the walking tire to rotate.

9. The photovoltaic cleaning mobile robot according to claim 8, characterized in that: The driving hinge vertical plate and the driving hinge horizontal plate are vertically arranged, and driving hinge reinforcing ribs are arranged at the connecting corner positions of the driving hinge vertical plate and the driving hinge horizontal plate.

10. The photovoltaic cleaning mobile robot according to claim 5, characterized in that: The driving hinge transverse plate is a rectangular plate.

Images