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 two walking devices, a driving part, a cleaning device and an anti-falling component. The walking device comprises a main walking wheel set and an auxiliary walking wheel set which are arranged at the positions close to the bottom. The cleaning device is arranged between the two walking devices; the driving part is at least arranged on one walking device so as to drive the walking device and the sweeping device to move. The anti-falling assembly is arranged at the bottom of the walking device and provided with at least two anti-falling wheels which are located on the lower side of the bottom face of the photovoltaic panel and extend from the edge of the photovoltaic panel to the center direction. In the moving direction of the walking device, the two anti-disengaging wheels on the outer sides are located on the two outer sides of the main walking wheel set and / or the auxiliary walking wheel set. Therefore, the traveling device has the advantages of being capable of preventing the traveling device from tilting at an overlarge angle and being not easy to fall off from the bridge frame.

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] With growing awareness of the environment, photovoltaic power generation, as a clean energy source, is becoming increasingly widely used. However, since photovoltaic panels are typically installed outdoors, dust and other dirt will gradually accumulate on the panel surface as sand and dust erode the panel surface, resulting in a decrease in power generation. Therefore, some manufacturers choose to use cleaning robots for cleaning. Cleaning robots typically include two running gears and a cleaning roller located between the two running gears. During operation, the running gear's wheels correspond to the photovoltaic panels or tracks, driving the cleaning roller across the photovoltaic panels to clean them.

[0003] In order to prevent the photovoltaic cleaning robot from jumping due to strong winds or encountering foreign objects during work, resulting in the walking wheels being unable to fit the walking surface and falling off the photovoltaic panel. To this end, the Chinese utility model with the authorization announcement number "CN217388641U" and the name "A twistable photovoltaic panel cleaning robot" discloses a technical solution in which an anti-slip hook is provided at the bottom of the edge walking device and in the middle of the two auxiliary walking wheels, extending from the front to the back of the photovoltaic panel. The end of the anti-slip hook is provided with an anti-slip wheel to prevent the cleaning robot from falling off abnormally from the photovoltaic panel. However, this technical solution also has some shortcomings. For example, please refer to Figure 1 and Figure 2 When there is a large angle deviation between two adjacent photovoltaic panels, one side of the movable bridge connecting the two photovoltaic panels is tilted upward and the other side is tilted downward. When the photovoltaic cleaning robot passes through the movable bridge, one side of the walking device is climbing and the other side of the walking device is going downhill. The walking device on the downhill side may not necessarily descend with the slope due to the friction between the side auxiliary walking wheels and the side wall of the bridge. At this time, the anti-slip wheel located between the two auxiliary walking wheels cannot touch the bridge first, resulting in the inability to pull the walking device down in time. As a result, the photovoltaic cleaning robot is at risk of falling off the movable bridge and being damaged due to the excessive tilting angle of one side of the walking device.

[0004] Therefore, a photovoltaic cleaning robot that can prevent the walking device from tilting at an excessively large angle and not easily falling from the bridge needs to be designed. Utility Model Content

[0005] The purpose of the present utility model is to provide a photovoltaic cleaning robot to address the defects and shortcomings of the existing technology, and to solve at least one of the above-mentioned technical problems. It has the advantages of preventing the walking device from tilting at too large an angle and not easily falling from the bridge.

[0006] To achieve the above objectives, the present invention provides a photovoltaic cleaning robot, comprising:

[0007] Two traveling devices, including a main traveling wheel set and an auxiliary traveling wheel set arranged near the bottom;

[0008] A cleaning device is arranged between the two walking devices;

[0009] a driving member, disposed on at least one of the traveling devices, to drive the traveling device and the cleaning device to move;

[0010] An anti-slip assembly is arranged at the bottom of the walking device and has at least two anti-slip wheels located on the lower side of the bottom surface of the photovoltaic panel and extending from the edge toward the center of the photovoltaic panel;

[0011] Wherein, in the moving direction of the walking device, the two outer anti-slip wheels are located on the two outer sides of the main walking wheel group and / or the auxiliary walking wheel group.

[0012] Optionally, the anti-slip wheel is symmetrically arranged relative to the cleaning device.

[0013] Optionally, the main walking wheel group includes at least two main walking wheels symmetrically configured relative to the cleaning device, and the auxiliary walking wheel group includes at least two auxiliary walking wheels symmetrically configured relative to the cleaning device; the anti-slip assembly has two anti-slip wheels, and the spacing between the two anti-slip wheels is greater than the spacing between the two main walking wheels; or, the spacing between the two anti-slip wheels is greater than the spacing between the two auxiliary walking wheels.

[0014] Optionally, the anti-slip assembly further includes an anti-slip bracket assembled and connected to the bottom of the walking device.

[0015] Optionally, the anti-slip bracket includes an anti-slip vertical rod vertically arranged at the bottom of the walking device, an anti-slip horizontal rod arranged at one end of the anti-slip vertical rod away from the walking device, and a guide wheel inner sleeve arranged at both ends of the anti-slip horizontal rod and extending toward the center of the photovoltaic panel; the anti-slip wheel rotating sleeve is arranged on the guide wheel inner sleeve.

[0016] Optionally, the anti-slip bracket includes an anti-slip vertical rod vertically configured at the bottom of the walking device, an anti-slip horizontal rod configured at one end of the anti-slip vertical rod away from the walking device, and a fixed shaft configured at both ends of the anti-slip horizontal rod and extending toward the center of the photovoltaic panel; the anti-slip wheel is rotatably connected to the fixed shaft through a bearing.

[0017] Optionally, the photovoltaic cleaning robot further includes a connecting shaft whose two ends are rotatably connected to one of the walking devices, so that the two walking devices can be twisted by a certain angle.

[0018] Optionally, one of the walking devices further includes a roller power shaft; the driving member includes a first motor and a second motor, the roller power shaft is connected to the second motor, and the main walking wheel group and the auxiliary walking wheel group of the walking device on this side are both connected to the first motor; the other walking device further includes a roller support shaft, and the main walking wheel group and the auxiliary walking wheel group of the walking device on this side are connected to the roller support shaft; the cleaning device is a cleaning roller, one end of the cleaning roller is connected to the roller support shaft, and the other end is connected to the roller power shaft.

[0019] Optionally, the two main running wheels are connected via a first linkage gear set.

[0020] Optionally, the first linkage gear set includes a first driving gear, a first driven gear and a second driven gear that are transmission-connected; the first driving gear is fixed to the support shaft of the main walking wheel coaxially connected to the first motor, the first driven gear is fixed to the support shaft of the other walking wheel, the second driven gear is configured on the roller power shaft, and the second driven gear is rotationally connected to the roller power shaft through a first bearing; the wheel axle of the auxiliary walking wheel is transmission-connected to the support shaft of the main walking wheel through a bevel gear set.

[0021] Compared with the prior art, the advantages of this application are:

[0022] Since the photovoltaic cleaning robot has two anti-slip wheels located on the outer sides of the main walking wheel group and / or the auxiliary walking wheel group in the direction of movement of the walking device, and runs on a movable bridge, if a large-angle climbing slope is encountered, the anti-slip wheels located on the front side of the moving direction of the walking device can contact the bottom surface of the bridge earlier to limit the walking device from tilting up too much, that is, to pull down the walking device so that the main walking wheels and the bridge run in close proximity, thereby preventing the photovoltaic cleaning robot from falling from the bridge. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are merely embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on the provided drawings without paying any creative work.

[0024] Figure 1 This is a schematic diagram of the state in which the photovoltaic panels and the movable bridge cooperate with each other and there is a large angle deviation between the two photovoltaic panels according to an embodiment of the present utility model;

[0025] Figure 2 This is a schematic diagram of the state in which the bridge frame of the movable bridge according to the embodiment of the utility model is in a tilted state;

[0026] Figure 3 This is a schematic diagram of the coordinated structure of the photovoltaic cleaning robot and the photovoltaic panel according to an embodiment of the present utility model;

[0027] Figure 4 This is a schematic structural diagram of a photovoltaic cleaning robot according to an embodiment of the present utility model;

[0028] Figure 5 This is a side structural diagram of the walking device with the first motor on one side according to an embodiment of the utility model;

[0029] Figure 6 This is a schematic diagram of the exploded structure of a portion of the walking device with the first motor on one side according to an embodiment of the utility model;

[0030] Figure 7 This is a schematic exploded view of a portion of the structure of the walking device with the first motor on one side according to an embodiment of the present invention from another perspective;

[0031] Figure 8 This is a top view of the partial structure of the walking device with the first motor on one side of the embodiment of the utility model;

[0032] Figure 9 This is a schematic diagram of the partial structural decomposition of the walking device without the first motor side in an embodiment of the present utility model.

[0033] Description of Reference Numerals

[0034] 100- Photovoltaic cleaning robot;

[0035] 1-travel device; 11-housing; 12-main travel wheel; 13-auxiliary travel wheel; 14-first linkage gear set; 141-first driving gear; 142-first driven gear; 143-second driven gear;

[0036] 15-bevel gear set; 16-second linkage gear set; 161-second driving gear; 162-third driven gear; 163-fourth driven gear; 17-intermediate gear;

[0037] 2- cleaning roller;

[0038] 3-driving member; 31-first motor; 32-second motor;

[0039] 4-anti-slip assembly; 41-anti-slip wheel; 42-anti-slip bracket; 421-anti-slip vertical rod; 422-anti-slip horizontal rod; 423-guide wheel inner sleeve;

[0040] 5-Connecting shaft;

[0041] 6-roller power shaft;

[0042] 7-roller support shaft;

[0043] 8-first bearing;

[0044] 200-photovoltaic panels;

[0045] 300-Movable bridge. DETAILED DESCRIPTION

[0046] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the embodiments described are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of the present invention.

[0047] It should be noted that the terms "center," "longitudinal," "lateral," "upper," "lower," "front," "back," "left," "right," "top," "bottom," "inner," "outer," "back," "side," and "circumferential" used in the present invention to indicate positions or positional relationships are based on the positions or positional relationships shown in the accompanying drawings and are intended only to facilitate the description of the present invention and simplify the description. They do not indicate or imply that the devices or elements referred to must have a specific position, be constructed, or operate in a specific position. Therefore, they should not be construed as limiting the present invention. In addition, terms such as first and second are used only to distinguish multiple components or structures having the same or similar structures and do not represent any special limitation on the arrangement order or connection relationship.

[0048] Please refer to Figures 1 to 6The embodiment of the utility model provides a photovoltaic cleaning robot 100 for cleaning dust and other dirt on the photovoltaic panel 200, and preventing the photovoltaic cleaning robot 100 from jumping due to strong winds or encountering foreign objects during work, or preventing the photovoltaic cleaning robot 100 from falling off the photovoltaic panel 200 due to one end being tilted at a large climbing angle. The photovoltaic cleaning robot 100 includes: two walking devices 1, a cleaning device, a driving part 3, and an anti-slip component 4. The walking device 1 includes a main walking wheel group and an auxiliary walking wheel group. Among them, the main walking wheel group is configured near the bottom position and cooperates with the front of the photovoltaic panel 200 or the front of the track, and is used to fit the front of the photovoltaic panel 200 or the side of the track for walking. Specifically, the main walking wheel group is configured near the bottom position of the shell 11 of the walking device 1. The auxiliary running wheel group is also arranged near the bottom of the housing 11 of the walking device 1 and cooperates with the side of the photovoltaic panel 200 or the side of the track to help the photovoltaic cleaning robot 100 maintain stability on the photovoltaic panel 200. In particular, when working on an inclined surface, it can increase the grip and stability of the photovoltaic cleaning robot 100 and prevent sliding. The cleaning device is arranged between the two walking devices 1 and is used to clean dust and other dirt on the photovoltaic panel 200. The driving member 3 is arranged on at least one of the walking devices 1 to drive the main running wheel group and the auxiliary running wheel group of the walking device 1 and the cleaning device to move. Specifically, the driving member 3 can be one or more and be arranged on the walking device 1 on one side at the same time, and drive the main running wheel group and the auxiliary running wheel group of the walking devices 1 on both sides and the cleaning device located in the middle to move through the transmission structure; of course, the driving member 3 can also be arranged in the two walking devices 1 respectively, for driving the main running wheel group and the auxiliary running wheel group on one side to move respectively, and the driving member 3 on one side also drives the cleaning device. There is no specific limitation. Optionally, the driving member 3 is a driving motor. The anti-slip assembly 4 is arranged at the bottom of the walking device 1 and has two anti-slip wheels 41; the anti-slip wheels 41 are located on the lower side of the bottom surface of the photovoltaic panel 200 and extend from the edge of the photovoltaic panel 200 toward the center. Of course, in other embodiments, the anti-slip assembly 4 may also include three or four anti-slip wheels 41, as long as it is greater than or equal to two. In the movement direction of the walking device 1, the two outer anti-slip wheels 41 are located on both outer sides of the main walking wheel group and the auxiliary walking wheel group. Of course, in other embodiments, the two outer anti-slip wheels 41 may also be located on both outer sides of the main walking wheel group; or the two outer anti-slip wheels 41 are located on both outer sides of the auxiliary walking wheel group.

[0049] Since the photovoltaic cleaning robot 100 has two anti-slip wheels 41 located on the outer sides of the main walking wheel group and / or the auxiliary walking wheel group in the direction of movement of the walking device 1, and runs on the movable bridge 300, when climbing a slope at a large angle, the anti-slip wheels 41 located on the front side of the movement direction of the walking device 1 can contact the bottom surface of the bridge frame of the movable bridge 300 earlier to limit the walking device 1 from tilting up too much, that is, to pull down the walking device 1 so that the main walking wheel 12 and the bridge frame are in close contact with each other, thereby preventing the photovoltaic cleaning robot 100 from falling from the bridge frame.

[0050] In order to make the design of the walking device 1 more symmetrical and to increase the balance, optionally, please refer to Figure 5 In this embodiment, the traveling device 1 has two anti-slip wheels 41, and the two anti-slip wheels 41 are symmetrically arranged relative to the cleaning device. If an even number of anti-slip wheels 41 are configured, half of them can be arranged on both sides of the cleaning device, and these anti-slip wheels 41 are symmetrically arranged relative to the cleaning device. If an odd number of anti-slip wheels 41 are configured, one of them can be coaxially arranged with the cleaning device, and the remaining half can be arranged on both sides of the cleaning device, and these anti-slip wheels 41 can be symmetrically arranged relative to the cleaning device.

[0051] For details, please refer to Figure 5 In this embodiment, the main running wheel group includes two main running wheels 12 symmetrically arranged relative to the cleaning device, and the auxiliary running wheel group includes two auxiliary running wheels 13 symmetrically arranged relative to the cleaning device; the anti-slip assembly 4 has two anti-slip wheels 41, and the distance h1 between the two anti-slip wheels 41 is greater than the distance h2 between the two main running wheels 12; or, the distance h1 between the two anti-slip wheels 41 is greater than the distance h3 between the two auxiliary running wheels 13. Since the distance h1 between the two anti-slip wheels 41 is greater than the distance h2 between the two main running wheels 12, or the distance h1 between the two anti-slip wheels 41 is greater than the distance h3 between the two auxiliary running wheels 13, when running on the movable bridge 300 and encountering a large-angle climbing slope, the front anti-slip wheel 41 can contact the bottom surface of the bridge frame earlier than the main running wheel 12 or the auxiliary running wheel 13, so as to limit the tilting angle of the running device 1 from being too large, that is, to pull the running device 1 down so that the main running wheel 12 and the bridge frame can run in close proximity. Of course, in another embodiment, the number of main walking wheels 12 in the main walking wheel group and the number of auxiliary walking wheels 13 in the auxiliary walking wheel group can also be greater than two. This needs to be designed according to the specific size of the photovoltaic cleaning robot 100 and is not specifically limited here.

[0052] Alternatively, see Figure 6In this embodiment, the anti-slip assembly 4 also includes an anti-slip bracket 42 that is assembled and connected to the bottom of the walking device 1. Specifically, the anti-slip bracket 42 includes an anti-slip vertical rod 421, an anti-slip horizontal rod 422, and a guide wheel inner sleeve 423. Among them, the anti-slip vertical rod 421 is vertically arranged at the bottom of the walking device 1; the anti-slip horizontal rod 422 is horizontally arranged at the end of the anti-slip vertical rod 421 away from the walking device 1; the guide wheel inner sleeve 423 is arranged at both ends of the anti-slip horizontal rod 422 and extends toward the center of the photovoltaic panel 200; the anti-slip wheel 41 is rotatably sleeved on the guide wheel inner sleeve 423. Of course, in other embodiments, a fixed shaft extending toward the center of the photovoltaic panel 200 can also be arranged at both ends of the anti-slip horizontal rod 422, and the anti-slip wheel 41 is rotatably connected to the fixed shaft through a bearing (not shown in the figure). As long as the anti-slip wheel 41 can rotate relatively. In this way, when the anti-slip wheel 41 contacts the photovoltaic panel 200 or the bottom of the bridge frame, it can temporarily replace the wheel to perform a short rolling, reducing the risk of the sweeper falling off when climbing a slope.

[0053] In order to make the walking devices 1 on both sides of the photovoltaic cleaning robot 100 relatively twisted at a certain angle, so that when encountering a movable bridge 300 with an uphill slope on one side and a downhill slope on the other side, the photovoltaic cleaning robot 100 can adapt to pass normally, optionally, please refer to Figure 4 In this embodiment, the photovoltaic cleaning robot 100 further includes a connecting shaft 5 rotatably connected to a walking device 1 at each end, enabling the two walking devices 1 to twist at a certain angle. Specifically, this structure is prior art, as disclosed in Chinese Utility Model No. CN217388641U, and will not be elaborated on here.

[0054] In order to realize the movement of the walking devices 1 on both sides of the photovoltaic cleaning robot 100 and the cleaning device, optionally, please refer to Figures 6 to 9 In this embodiment, one of the walking devices 1 further includes a roller power shaft 6; the driving member 3 includes a first motor 31 and a second motor 32. The roller power shaft 6 is transmission-connected to the second motor 32, and the main and auxiliary walking wheel groups of the walking device 1 on this side are both transmission-connected to the first motor 31. That is, the main and auxiliary walking wheel groups of the walking device 1 on this side are both driven by the first motor 31. The other walking device 1 further includes a roller support shaft 7, and the main and auxiliary walking wheel groups of the walking device 1 on this side are both transmission-connected to the roller support shaft 7. Optionally, the cleaning device is a cleaning roller 2. One end of the cleaning roller 2 is connected to the roller support shaft 7, and the other end is connected to the roller power shaft 6. That is, the cleaning roller 2, the main and auxiliary walking wheel groups of the walking device 1 on the side that does not include the first motor 31 are all driven by the second motor 32. That is, in this embodiment, the first and second motors 31, 32 are both arranged on one side of the walking device 1.

[0055] Alternatively, see Figure 6 and Figure 7 In this embodiment, the two main travel wheels 12 are connected by a first linkage gear set 14. Specifically, the first linkage gear set 14 includes a first driving gear 141, a first driven gear 142 and a second driven gear 143 that are transmission-connected. The first driving gear 141 is fixed on the support shaft of the main travel wheel 12 coaxially connected to the first motor 31, the first driven gear 142 is fixed on the support shaft of the other main travel wheel 12, and the second driven gear 143 is arranged on the roller power shaft 6, and the second driven gear 143 is rotationally connected to the roller power shaft 6 through the first bearing 8. That is, the second driven gear 143 and the roller power shaft 6 rotate independently without interfering with each other. The axle of the auxiliary travel wheel 13 is transmission-connected to the support shaft of the main travel wheel 12 through the bevel gear set 15. Specifically, the bevel gear set 15 includes a pair of bevel gears that mesh with each other.

[0056] Alternatively, see Figure 9 In this embodiment, the two main travel wheels 12 in the travel device 1 that does not include the first motor 31 are connected to each other through a second linkage gear set 16 and the roller support shaft 7. Specifically, the second linkage gear set 16 includes a second driving gear 161, a third driven gear 162, and a fourth driven gear 163. The second driving gear 161 is fixed on the roller support shaft 7 and rotates synchronously with it; the third driven gear 162 is fixed on the support shaft of one of the main travel wheels 12 of the travel device 1 on this side, and the fourth driven gear 163 is fixed on the support shaft of the other main travel wheel 12 of the travel device 1 on this side; the second driving gear 161 is connected to the third driven gear 162 and the fourth driven gear 163 respectively. The setting of the auxiliary travel wheel group on this side is similar to that of the auxiliary travel wheel group on the side including the first motor 31, so it will not be described in detail.

[0057] Alternatively, see Figure 6 and Figure 9 In this embodiment, an intermediate gear 17 may be further included between the first driving gear 141 and the second driven gear 143, between the first driven gear 142 and the second driven gear 143, between the second driving gear 161 and the third driven gear 162, and between the second driving gear 161 and the fourth driven gear 163, so as to facilitate adjustment of the size of each gear and the center distance.

[0058] 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 them. 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: include: Two walking devices (1), including a main walking wheel set and an auxiliary walking wheel set, which are arranged near the bottom; A cleaning device is arranged between the two walking devices (1); A driving member (3) is arranged on at least one of the walking devices (1) to drive the walking device (1) and the cleaning device to move; An anti-slip assembly (4) is arranged at the bottom of the walking device (1) and has at least two anti-slip wheels (41) located on the lower side of the bottom surface of the photovoltaic panel (200) and extending from the edge of the photovoltaic panel (200) toward the center; Wherein, in the moving direction of the walking device (1), the two outer anti-slip wheels (41) are located on the two outer sides of the main walking wheel group and / or the auxiliary walking wheel group.

2. The photovoltaic cleaning robot according to claim 1, characterized in that: The anti-slip wheel (41) is symmetrically arranged relative to the cleaning device.

3. The photovoltaic cleaning robot according to claim 2, characterized in that: The main running wheel group includes at least two main running wheels symmetrically arranged relative to the cleaning device, and the auxiliary running wheel group includes at least two auxiliary running wheels symmetrically arranged relative to the cleaning device; the anti-slip assembly (4) has two anti-slip wheels (41), and the distance between the two anti-slip wheels (41) is greater than the distance between the two main running wheels; or, the distance between the two anti-slip wheels (41) is greater than the distance between the two auxiliary running wheels.

4. The photovoltaic cleaning robot according to claim 1, characterized in that: The anti-slip assembly (4) further comprises an anti-slip bracket (42) assembled and connected to the bottom of the walking device (1).

5. The photovoltaic cleaning robot according to claim 4, characterized in that: The anti-slip bracket (42) comprises an anti-slip vertical rod (421) vertically arranged at the bottom of the walking device (1), an anti-slip horizontal rod (422) arranged at one end of the anti-slip vertical rod (421) away from the walking device (1), and a guide wheel inner sleeve (423) arranged at both ends of the anti-slip horizontal rod (422) and extending toward the center of the photovoltaic panel (200); the anti-slip wheel (41) is rotatably sleeved on the guide wheel inner sleeve (423).

6. The photovoltaic cleaning robot according to claim 4, characterized in that: The anti-slip bracket (42) comprises an anti-slip vertical rod (421) vertically arranged at the bottom of the walking device (1), an anti-slip horizontal rod (422) arranged at one end of the anti-slip vertical rod (421) away from the walking device (1), and a fixed shaft arranged at both ends of the anti-slip horizontal rod (422) and extending toward the center of the photovoltaic panel (200); the anti-slip wheel (41) is rotatably connected to the fixed shaft via a bearing.

7. The photovoltaic cleaning robot according to claim 1, characterized in that: It also includes a connecting shaft (5) whose two ends are respectively connected to a walking device (1) for rotation, so that the two walking devices (1) can be twisted at a certain angle.

8. The photovoltaic cleaning robot according to claim 3, characterized in that: One of the walking devices (1) further includes a roller power shaft (6), the driving member (3) includes a first motor (31) and a second motor (32), the roller power shaft (6) is transmission-connected to the second motor (32), and the main walking wheel set and the auxiliary walking wheel set of the walking device (1) on this side are both transmission-connected to the first motor (31); Another of the walking devices (1) further comprises a roller support shaft (7), wherein the main walking wheel group and the auxiliary walking wheel group of the walking device (1) on this side are transmission-connected to the roller support shaft (7); the cleaning device is a cleaning roller (2), wherein one end of the cleaning roller (2) is connected to the roller support shaft (7), and the other end is connected to the roller power shaft (6).

9. The photovoltaic cleaning robot according to claim 8, characterized in that: The two main running wheels are connected via a first linkage gear set (14).

10. The photovoltaic cleaning robot according to claim 9, characterized in that: The first linkage gear set (14) comprises a first driving gear (141), a first driven gear (142) and a second driven gear (143) which are transmission-connected; the first driving gear (141) is fixed on the support shaft of the main travel wheel coaxially connected to the first motor (31); the first driven gear (142) is fixed on the support shaft of the other travel wheel; the second driven gear (143) is arranged on the roller power shaft (6), and the second driven gear (143) is rotationally connected to the roller power shaft (6) via a first bearing (8); the wheel shaft of the auxiliary travel wheel is transmission-connected to the support shaft of the main travel wheel via a bevel gear set (15).

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