Photovoltaic cleaning robot

Abstract

The utility model provides a photovoltaic cleaning robot, which relates to the technical field of photovoltaic panel dust removal devices and comprises a first walking device, a second walking device and a cleaning roller. Wherein the first walking device comprises a roller power shaft, a first main walking wheel set and a driving motor, and the driving motor is in transmission connection with the roller power shaft and is in transmission connection with the first main walking wheel set through a first gear set; the second walking device comprises a roller supporting shaft and a second main walking wheel set, the second main walking wheel set is in transmission connection with the roller supporting shaft through a second gear set, and the two ends of the sweeping roller are connected with the roller supporting shaft and the roller power shaft. Therefore, compared with a multi-motor driving mode, the driving device has the advantages of low cost and high synchronism. In addition, compared with a conveyor belt and other modes, gear transmission has the advantages that power transmission is stable, the transmission ratio is convenient to adjust, and the assembly space is compact.

Description

Technical Field

[0001] The utility model relates to the technical field of photovoltaic panel dust removal devices, in particular to a photovoltaic cleaning robot. Background Art

[0002] As the environment is becoming more and more important, photovoltaic power generation is becoming more and more widely used as a clean energy source. However, as photovoltaic panels are installed outdoors, with the erosion of sand and dust, the photovoltaic panel surface will gradually accumulate dust and other dirt, resulting in a decrease in power generation. Therefore, some manufacturers choose to use photovoltaic cleaning robots to clean. Photovoltaic cleaning robots usually include a first walking device, a second walking device and a cleaning roller. When working, the walking wheels of the first walking device and the walking wheels of the second walking device correspond to the frame position or track of the photovoltaic panel, driving the cleaning roller to pass through the photovoltaic panel to clean the photovoltaic panel.

[0003] Existing photovoltaic cleaning robots usually use more than two drive motors to drive the first walking device, the second walking device and the cleaning roller. However, the first walking device and the second walking device are driven by different motors, and there is a situation of asynchronous rotation, which causes the photovoltaic cleaning robot to deviate from the direction or get stuck; in addition, the technical solution of using multiple motors to drive has the disadvantage of high cost.

[0004] Therefore, a photovoltaic cleaning robot with high rotation synchronization and low cost needs to be designed. Utility Model Content

[0005] The utility model aims to provide a photovoltaic cleaning robot to address the defects and shortcomings of the prior art, and at least solve one of the above-mentioned technical problems. The utility model has the advantages of high rotation synchronization and low cost.

[0006] To achieve the above-mentioned objectives, the utility model provides, on the one hand, a photovoltaic cleaning robot, comprising: a first walking device, a second walking device and a cleaning roller; the first walking device comprises a roller power shaft, a first main walking wheel group and a driving motor, the driving motor is connected to the roller power shaft by transmission, and is connected to the first main walking wheel group by transmission via a first gear group; the second walking device comprises a roller support shaft and a second main walking wheel group, the second main walking wheel group is connected to the roller support shaft by transmission via a second gear group, and both ends of the cleaning roller are connected to the roller support shaft and the roller power shaft.

[0007] Optionally, the first main walking wheel group includes a first main walking wheel and a second main walking wheel; the first main walking wheel and the second main walking wheel are symmetrically arranged relative to the cleaning roller; the roller power shaft and the output shaft of the drive motor are coaxially assembled and connected to receive the output torque of the drive motor.

[0008] Optionally, the first gear set includes a first driving gear, a first driven gear and a second driven gear; the first driving gear is fixed to the roller power shaft and rotates synchronously therewith; the first driven gear is fixed to the rotating shaft of the first main walking wheel, and the second driven gear is fixed to the rotating shaft of the second main walking wheel; the first driven gear and the second driven gear are symmetrically arranged relative to the first driving gear, and are both drivingly connected to the first driving gear.

[0009] Optionally, a first intermediate gear set is disposed between the first driving gear and the first driven gear, and between the first driving gear and the second driven gear; and a rotation center of the first intermediate gear set is lower than a rotation center of the first driving gear.

[0010] Optionally, the first walking device also includes a first auxiliary walking wheel group; the first auxiliary walking wheel group includes a first side walking wheel configured corresponding to the first main walking wheel, and a second side walking wheel configured corresponding to the second main walking wheel; the rotating shaft of the first side walking wheel and the rotating shaft of the first main walking wheel, and the rotating shaft of the second side walking wheel and the rotating shaft of the second main walking wheel are respectively meshed and transmitted through a first bevel gear group.

[0011] Optionally, the second main travel wheel set includes a third main travel wheel and a fourth main travel wheel, and the third main travel wheel and the fourth main travel wheel are symmetrically arranged relative to the cleaning roller.

[0012] Optionally, the second gear set includes a second driving gear, a third driven gear and a fourth driven gear; the second driving gear is fixed to the roller support shaft and rotates synchronously therewith; the third driven gear is fixed to the rotating shaft of the third main walking wheel, and the fourth driven gear is fixed to the rotating shaft of the fourth main walking wheel; the third driven gear and the fourth driven gear are symmetrically arranged relative to the second driving gear, and are both transmission connected to the second driving gear.

[0013] Optionally, a second intermediate gear set is disposed between the second driving gear and the third driven gear, and between the second driving gear and the fourth driven gear; and a rotation center of the second intermediate gear set is lower than a rotation center of the second driving gear.

[0014] Optionally, the second walking device also includes a second auxiliary walking wheel group; the second auxiliary walking wheel group includes a third side walking wheel configured corresponding to the third main walking wheel, and a fourth side walking wheel configured corresponding to the fourth main walking wheel; a second bevel gear group is respectively configured for meshing transmission between the rotating shaft of the third side walking wheel and the rotating shaft of the third main walking wheel, and between the rotating shaft of the fourth side walking wheel and the rotating shaft of the fourth main walking wheel.

[0015] Optionally, the bottom of the first walking device and / or the second walking device is also provided with an anti-slip wheel assembly.

[0016] Compared with the prior art, the advantages of this application are:

[0017] Since the photovoltaic cleaning machine synchronously drives the cleaning roller, the first main travel wheel set of the first travel device, and the second main travel wheel set of the second travel device through a driving motor, it has the advantages of low cost and high synchronization compared with the multi-motor drive method. In addition, the first main travel wheel set is connected to the driving motor through the first gear set, and the second main travel wheel set is connected to the roller support shaft through the second gear set; compared with transmission methods such as conveyor belts, the gear transmission method has the advantages of stable power transmission, not easy to wear, and compact assembly space. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] In order to more clearly illustrate the embodiments of the utility model 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 described below are only embodiments of the utility model. For ordinary technicians in this field, other drawings can be obtained based on the provided drawings without paying creative work.

[0019] Figure 1 It is a schematic diagram of the structure of an embodiment of the utility model;

[0020] Figure 2 This is a schematic diagram of the structure of an embodiment of the utility model (hidden anti-slip wheel assembly) when viewed from above;

[0021] Figure 3 for Figure 2 A schematic diagram of the local enlarged structure at point A in the middle;

[0022] Figure 4 for Figure 2 A schematic diagram of the local enlarged structure at B in the middle;

[0023] Figure 5 It is a schematic diagram of the partial structure of the first walking device of the embodiment of the utility model;

[0024] Figure 6 This is a schematic diagram of the structure of the first walking device of an embodiment of the utility model;

[0025] Figure 7 It is a schematic diagram of the partial structure of the first walking device of the embodiment of the utility model;

[0026] Figure 8 A schematic diagram of the exploded structure of the first walking device of the utility model embodiment;

[0027] Fig. 9 It is a schematic diagram of the partial structure of the second walking device of the embodiment of the utility model;

[0028] Fig.10 It is a schematic structural diagram of the second walking device of an embodiment of the utility model.

[0029] Description of Reference Numerals

[0030] 100- Photovoltaic cleaning robot;

[0031] 1-first walking device; 11-roller power shaft; 12-first main walking wheel group; 121-first main walking wheel; 123 second main walking wheel; 13-driving motor; 14-first gear group; 141-first driving gear; 142-first driven gear; 143-second driven gear; 144-first intermediate gear group; 15-bearing; 16-first auxiliary walking wheel group; 161-first side walking wheel; 163-second side walking wheel; 17-first helical gear group; 171-first helical gear; 172-second helical gear;

[0032] 2-second walking device; 21-roller support shaft; 22-second main walking wheel set; 231-third main walking wheel; 233-fourth main walking wheel; 24-second gear set; 241-second driving gear; 242-third driven gear; 243-fourth driven gear; 244-second intermediate gear set; 26-second auxiliary walking wheel set; 261-third side walking wheel; 263-fourth side walking wheel; 3-sweeping roller;

[0033] 4-anti-slip wheel assembly; 41-anti-slip bracket; 42-anti-slip wheel;

[0034] 5-Battery. DETAILED DESCRIPTION

[0035] The following will be combined with the drawings in the embodiments of the utility model to clearly and completely describe the technical solutions in the embodiments of the utility model. Obviously, the described embodiments are only part of the embodiments of the utility model, not all of the embodiments. Based on the embodiments in the utility model, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the utility model.

[0036] 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 present invention indicate positions or positional relationships based on the positions or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present 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 present 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 represent any special limitation on the setting order or connection relationship.

[0037] Please refer to Figures 1 to 10 The embodiment of the utility model provides a photovoltaic cleaning robot 100 for cleaning dust and other dirt on photovoltaic panels (not shown in the figure). The photovoltaic cleaning robot 100 includes: a first walking device 1, a second walking device 2 and a cleaning roller 3. Among them, the first walking device 1 includes a roller power shaft 11, a first main walking wheel group 12 and a driving motor 13; the driving motor 13 is connected to the roller power shaft 11 by transmission, and is connected to the first main walking wheel group 12 by transmission through the first gear group 14; the second walking device 2 includes a roller support shaft 21 and a second main walking wheel group 22, and the second main walking wheel group 22 is connected to the roller support shaft 21 by transmission through the second gear group 24, and the two ends of the cleaning roller 3 are connected to the roller support shaft 21 and the roller power shaft 11.

[0038] During operation, the driving motor 13 drives the roller power shaft 11 to rotate, thereby driving the cleaning roller 3 to rotate; at the same time, the driving motor 13 drives the first main walking wheel group 12 to rotate through the first gear group 14; and the cleaning roller 3 drives the second main walking wheel group 22 to rotate through the roller support shaft 21 and the second gear group 24.

[0039] Since the photovoltaic cleaning machine synchronously drives the cleaning roller 3, the first main walking wheel set 12 of the first walking device 1, and the second main walking wheel set 22 of the second walking device 2 through a driving motor 13, it has the advantages of low cost and high synchronization compared with the multi-motor drive method. In addition, the first main walking wheel set 12 is connected to the driving motor 13 through the first gear set 14, and the second main walking wheel set 22 is connected to the roller support shaft 21 through the second gear set 24. Compared with transmission methods such as conveyor belts, the gear transmission method has the advantages of stable power transmission, not easy to wear, and compact assembly space.

[0040] In order to improve the walking stability of the first main running wheel set 12 on the photovoltaic panel frame or track, please refer to Figure 3 , Figure 5 , Figure 7 and Figure 8, Optionally, in this embodiment, the first main walking wheel group 12 includes a first main walking wheel 121 and a second main walking wheel 123; the first main walking wheel 121 and the second main walking wheel 123 are symmetrically arranged relative to the cleaning roller 3, that is, the first main walking wheel 121 is located on one side of the cleaning roller 3, and the second main walking wheel 123 is located on the other side of the cleaning roller 3, and the first main walking wheel 121 and the second main walking wheel 123 are symmetrically arranged relative to the cleaning roller 3; in this embodiment, the first main walking wheel 121 and the second main walking wheel 123 are connected by the first gear group 14 and the driving motor 13. In this way, compared with one main walking wheel and the upper frame or track of the photovoltaic panel, the contact fulcrums of the two walking wheels are more, which can improve the running stability of the photovoltaic cleaning robot 100. Of course, in other embodiments, the number of main walking wheels in the first main walking wheel group 12 can also be one, three, four or more, which is not specifically limited here.

[0041] Optionally, the roller power shaft 11 and the output shaft 131 of the drive motor 13 are coaxially assembled and connected to receive the output torque of the drive motor 13. Specifically, the roller power shaft 11 and the output shaft 131 of the drive motor 13 are connected by a key (not shown in the figure). Specifically, keyways are arranged at corresponding positions of the roller power shaft 11 and the output shaft 131 of the drive motor 13, and the fixed assembly of the roller power shaft 11 and the output shaft 131 of the drive motor 13 is achieved by the cooperation of the keyway and the key. Of course, in other embodiments, the roller power shaft 11 and the output shaft 131 of the drive motor 13 can also be fixedly assembled by other means, which are not specifically limited here. It can be understood that the roller power shaft 11 and the cleaning roller 3 can also be fixedly assembled by a key connection. The coaxial assembly connection of the output shaft 131 of the drive motor 13 and the roller power shaft 11 can omit the intermediate transmission device, and can reduce the size of the first walking device 1 in terms of spatial layout.

[0042] In order to realize the synchronous rotation of the first main running wheel 121 and the second main running wheel 123, optionally, please refer to Figure 5 and Figure 8In this embodiment, the first gear set 14 includes a first driving gear 141, a first driven gear 142 and a second driven gear 143. Among them, the first driving gear 141 is fixed to the roller power shaft 11 and rotates synchronously therewith; optionally, the first driving gear 141 is fixed to the roller power shaft 11 by a flat key; the first driven gear 142 is fixed to the rotating shaft 122 of the first main walking wheel 121; the second driven gear 143 is fixed to the rotating shaft 124 of the second main walking wheel 123; the first driven gear 142 and the second driven gear 143 are symmetrically arranged relative to the first driving gear 141, and are both connected to the first driving gear 141 in transmission. It can be understood that the first driven gear 142 and the second driven gear 143 are gears of the same size. In this way, the synchronous rotation of the first main walking wheel 121 and the second main walking wheel 123 can be achieved. Preferably, in this embodiment, the diameter of the first driving gear 141 is smaller than the diameters of the first driven gear 142 and the second driven gear 143; in this way, the rotation speed of the first main walking wheel 121 and the second main walking wheel 123 can be greater than the rotation speed of the cleaning roller, so that the cleaning roller can better clean the photovoltaic panel.

[0043] It can be understood that the roller power shaft 11 , the rotating shaft 122 of the first main traveling wheel 121 , and the rotating shaft 124 of the second main traveling wheel 123 are all rotatably disposed on the first traveling device 1 via the bearing 15 .

[0044] After the center distance between the first driving gear 141 and the first driven gear 142 and the second driven gear 143 is determined, in order to avoid selecting a gear with an oversized size to achieve the transmission of rotation, optionally, please refer to Figure 5 In this embodiment, a first intermediate gear set 144 is disposed between the first driving gear 141 and the first driven gear 142, and between the first driving gear 141 and the second driven gear 143; specifically, in this embodiment, the first intermediate gear set 144 is two intermediate gears; of course, in other embodiments, the number of the first intermediate gear set 144 can also be one, three or more, which needs to be set according to the specific size of the first walking device 1. Preferably, the rotation center of the first intermediate gear set 144 is lower than the rotation center of the first driving gear 141. In this way, the gears can be staggered in space, which can further reduce the assembly space.

[0045] In order to improve the walking stability of the photovoltaic cleaning robot 100, preferably, please refer to Figure 3 , Figure 5 and Figure 8In this embodiment, the first walking device 1 also includes a first auxiliary walking wheel group 16; the first auxiliary walking wheel group 16 includes a first side walking wheel 161 corresponding to the first main walking wheel 121, and a second side walking wheel 163 corresponding to the second main walking wheel 123; the rotating shaft 162 of the first side walking wheel 161 and the rotating shaft 122 of the first main walking wheel 121, and the rotating shaft 164 of the second side walking wheel 163 and the rotating shaft 124 of the second main walking wheel 123 are respectively meshed and transmitted through the first bevel gear group 17. In this way, when working, the first main walking wheel group 12 can walk on the front of the frame of the photovoltaic panel, and the first auxiliary walking wheel group 16 can walk on the side of the frame of the photovoltaic panel, so that the photovoltaic cleaning robot 100 can walk on the photovoltaic panel more reliably.

[0046] Specifically, the rotation axis of the first main walking wheel set 12 and the rotation axis of the first auxiliary walking wheel set 16 are arranged at 90 degrees. Optionally, the first bevel gear set 17 includes a first bevel gear 171 configured on the rotation axis 122 of the first main walking wheel 121 and the rotation axis 124 of the second main walking wheel 123, and a second bevel gear 172 configured on the rotation axis 162 of the first side walking wheel 161 and the rotation axis 164 of the second side walking wheel 163. The first main walking wheel set 12 and the first auxiliary walking wheel set 16 rotate synchronously through the meshing of the first bevel gear 171 and the second bevel gear 172.

[0047] Optionally, see Figure 4 In this embodiment, the second main walking wheel group 22 in the second walking device 2 includes a third main walking wheel 231 and a fourth main walking wheel 233, and the third main walking wheel 231 and the fourth main walking wheel 233 are symmetrically arranged relative to the cleaning roller 3. In this way, compared with one main walking wheel and the upper frame or track of the photovoltaic panel, the contact fulcrums of the two walking wheels are more, which can improve the operation stability of the photovoltaic cleaning robot 100.

[0048] In order to realize the synchronous rotation of the third main walking wheel 231 and the fourth main walking wheel 233, optionally, please refer to Fig. 9 and Fig.10In this embodiment, the second gear set 24 includes a second driving gear 241, a third driven gear 242 and a fourth driven gear 243; the second driving gear 241 is fixed on the roller support shaft 21 and rotates synchronously with it; the third driven gear 242 is fixed on the rotating shaft 232 of the third main walking wheel 231, and the fourth driven gear 243 is fixed on the rotating shaft 234 of the fourth main walking wheel 233; the third driven gear 242 and the fourth driven gear 243 are symmetrically arranged relative to the second driving gear 241, and are both connected to the second driving gear 241 by transmission. It can be understood that the third driven gear 242, the fourth driven gear 243 and the first driven gear 142, the second driven gear 143 are gears of the same size; and the second driving gear 241 and the first driving gear 141 are gears of the same size. In this way, it can be ensured that the first walking device 1 and the second walking device 2 have the same running speed, so as to improve the running stability of the photovoltaic cleaning robot 100. In addition, the roller support shaft 21 , the rotating shaft 232 of the third main traveling wheel 231 , and the rotating shaft 234 of the fourth main traveling wheel 233 are all rotatably disposed on the second traveling device 2 via the bearing 15 .

[0049] Optionally, see Fig. 9 In this embodiment, a second intermediate gear set 244 is disposed between the second driving gear 241 and the third driven gear 242, and between the second driving gear 241 and the fourth driven gear 243; and the rotation center of the second intermediate gear set 244 is lower than the rotation center of the second driving gear 241. Specifically, the configuration of the second intermediate gear set 244 is similar to that of the first intermediate gear set 144, and will not be described in detail here.

[0050] Optionally, see Fig.10 In this embodiment, the second walking device 2 further includes a second auxiliary walking wheel set 26; the second auxiliary walking wheel set 26 includes a third side walking wheel 261 configured corresponding to the third main walking wheel 231, and a fourth side walking wheel 263 configured corresponding to the fourth main walking wheel 233; the rotation shaft (not shown in the figure) of the third side walking wheel 261 and the rotation shaft 232 of the third main walking wheel 231, and the rotation shaft (not shown in the figure) of the fourth side walking wheel 263 and the rotation shaft 234 of the fourth main walking wheel 233 are respectively configured through a second bevel gear 172 set (not shown in the figure) for meshing transmission. Specifically, the configuration of the second auxiliary walking wheel set 26 is similar to that of the first auxiliary walking wheel set 16, so it will not be repeated here.

[0051] In order to prevent the photovoltaic cleaning robot 100 from falling from the photovoltaic panel, preferably, please refer to Figure 6 and Figure 8In this embodiment, the first walking device 1 is also provided with an anti-slip wheel assembly 4 at the bottom; specifically, the anti-slip wheel assembly 4 includes an anti-slip bracket 41 mounted at the bottom of the first walking device 1, and an anti-slip wheel 42 mounted on the anti-slip bracket 41 and extending toward the inside of the photovoltaic panel. It can be understood that in other embodiments, the anti-slip wheel assembly 4 can also be configured at the bottom of the second walking device 2; or the anti-slip wheel assembly 4 can be arranged at the bottom of both the first walking device 1 and the second walking device 2.

[0052] Optionally, see Fig.10 In this embodiment, the cleaning robot also includes a battery 5 arranged in the second walking device 2, and the battery 5 is electrically connected to the driving motor 13 for supplying power to the driving motor 13.

[0053] 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 photovoltaic cleaning robot, characterized in that: The invention comprises a first walking device (1), a second walking device (2) and a cleaning roller (3); the first walking device (1) comprises a roller power shaft (11), a first main walking wheel group (12) and a driving motor (13); the driving motor (13) is connected to the roller power shaft (11) by transmission, and is connected to the first main walking wheel group (12) by transmission via a first gear group (14); the second walking device (2) comprises a roller support shaft (21) and a second main walking wheel group (22); the second main walking wheel group (22) is connected to the roller support shaft (21) by transmission via a second gear group (24); and the two ends of the cleaning roller (3) are connected to the roller support shaft (21) and the roller power shaft (11).

2. The photovoltaic cleaning robot according to claim 1, characterized in that: The first main walking wheel group (12) comprises a first main walking wheel (121) and a second main walking wheel (123); the first main walking wheel (121) and the second main walking wheel (123) are symmetrically arranged relative to the cleaning roller (3); the roller power shaft (11) and the output shaft of the drive motor (13) are coaxially assembled and connected to receive the output torque of the drive motor (13).

3. The photovoltaic cleaning robot according to claim 2, characterized in that: The first gear set (14) comprises a first driving gear (141), a first driven gear (142) and a second driven gear (143); the first driving gear (141) is fixed on the roller power shaft (11) and rotates synchronously therewith; the first driven gear (142) is fixed on the rotating shaft of the first main walking wheel (121), and the second driven gear (143) is fixed on the rotating shaft of the second main walking wheel (123); the first driven gear (142) and the second driven gear (143) are symmetrically arranged relative to the first driving gear (141), and are both drivingly connected to the first driving gear (141).

4. The photovoltaic cleaning robot according to claim 3, characterized in that: A first intermediate gear set (144) is disposed between the first driving gear (141) and the first driven gear (142), and between the first driving gear (141) and the second driven gear (143); and a rotation center of the first intermediate gear set (144) is lower than a rotation center of the first driving gear (141).

5. The photovoltaic cleaning robot according to claim 4, characterized in that: The first walking device (1) further comprises a first auxiliary walking wheel set (16); the first auxiliary walking wheel set (16) comprises a first side walking wheel (161) configured corresponding to the first main walking wheel (121), and a second side walking wheel (163) configured corresponding to the second main walking wheel (123); the rotating shaft of the first side walking wheel (161) and the rotating shaft of the first main walking wheel (121), as well as the rotating shaft of the second side walking wheel (163) and the rotating shaft of the second main walking wheel (123) are respectively meshed and transmitted via a first bevel gear set (17).

6. The photovoltaic cleaning robot according to claim 1, characterized in that: The second main travel wheel set (22) comprises a third main travel wheel (231) and a fourth main travel wheel (233), and the third main travel wheel (231) and the fourth main travel wheel (233) are symmetrically arranged relative to the cleaning roller (3).

7. The photovoltaic cleaning robot according to claim 6, characterized in that: The second gear set (24) comprises a second driving gear (241), a third driven gear (242) and a fourth driven gear (243); the second driving gear (241) is fixed on the roller support shaft (21) and rotates synchronously therewith; the third driven gear (242) is fixed on the rotating shaft of the third main walking wheel (231), and the fourth driven gear (243) is fixed on the rotating shaft of the fourth main walking wheel (233); the third driven gear (242) and the fourth driven gear (243) are arranged on the opposite side of the second driving gear (241) and are both drivingly connected to the second driving gear (241).

8. The photovoltaic cleaning robot according to claim 7, characterized in that: A second intermediate gear set (244) is disposed between the second driving gear (241) and the third driven gear (242), and between the second driving gear (241) and the fourth driven gear (243); and the rotation center of the second intermediate gear set (244) is lower than the rotation center of the second driving gear (241).

9. The photovoltaic cleaning robot according to claim 8, characterized in that: The second walking device (2) further comprises a second auxiliary walking wheel set (26); the second auxiliary walking wheel set (26) comprises a third side walking wheel (261) configured corresponding to the third main walking wheel (231), and a fourth side walking wheel (263) configured corresponding to the fourth main walking wheel (233); a second bevel gear (172) set is respectively configured for meshing transmission between the rotating shaft of the third side walking wheel (261) and the rotating shaft of the third main walking wheel (231), and between the rotating shaft of the fourth side walking wheel (263) and the rotating shaft of the fourth main walking wheel (233).

10. The photovoltaic cleaning robot according to any one of claims 1 to 9, characterized in that: The bottom of the first walking device (1) and / or the second walking device (2) is also provided with an anti-slip wheel assembly (4).

Images