Deviation rectifying structure and cleaning robot

Abstract

The utility model relates to the technical field of photovoltaic robots, in particular to a deviation rectifying structure and a cleaning robot. The deviation rectifying structure comprises a shell, a supporting frame, a telescopic structure, a first guide wheel, a distance sensor and an induction plate. At least part of the telescopic structure and the distance sensor are arranged in the shell, one end of the telescopic structure is fixed to the supporting frame, the other end of the telescopic structure penetrates through the supporting frame, the first guide wheel is arranged at the other end of the telescopic structure and located outside the shell, the induction plate is connected to the other end of the telescopic structure, and at least part of the induction plate is located outside the shell. The induction plate and the first guide wheel are symmetrically arranged along the axis of the telescopic structure, the distance sensor is fixed to the supporting frame, the distance sensor and the induction plate are arranged in the axis direction of the telescopic structure in a spaced mode, and the distance sensor is used for detecting the real-time distance between the induction plate and the distance sensor. According to the deviation rectifying structure, the distance sensor is arranged in the shell, the distance sensor can be prevented from being damaged, and the integration degree of the deviation rectifying structure is improved.

Description

TECHNICAL FIELD

[0001] The utility model relates to photovoltaic robot technical field especially refers to a rectification structure and cleaning robot. BACKGROUND

[0002] With the photovoltaic technology of our country more and more mature, photovoltaic industry has welcomed the rapid expansion, in the process of the rapid growth of photovoltaic quantity, the power generation quality is also more and more concerned. Because photovoltaic module is generally installed in the open air, will be subjected to dust, soil, haze, bird droppings and so on pollution, reduced the power generation efficiency of photovoltaic module, even there will be " hot spot effect".

[0003] When cleaning photovoltaic module, generally is through cleaning robot and saves manpower, in the process of cleaning, in order to guarantee the stability of cleaning robot work, need to set up rectification structure and the distance sensor located at the outside of cleaning robot, like this can cause the structure of cleaning robot to be complex, still can easily cause the damage of distance sensor. UTILITY MODEL CONTENTS

[0004] Therefore, the utility model embodiment provides a rectification structure and cleaning robot. The rectification structure includes a distance sensor, and the distance sensor is arranged in the shell, which can prevent the distance sensor from being damaged and improve the integration of the rectification structure.

[0005] In a first aspect, the utility model provides a rectification structure, which includes a shell, a support frame, an extension structure, a first guide wheel, a distance sensor, and a sensing plate. The support frame is used to be fixed to a first walking structure. The support frame, at least part of the extension structure, and the distance sensor are arranged in the shell. One end of the extension structure is fixed to the support frame, and the other end of the extension structure passes through the support frame. The first guide wheel is arranged at the other end of the extension structure and located outside the shell. The sensing plate is connected to the other end of the extension structure and at least partially located outside the shell. The sensing plate and the first guide wheel are symmetrically arranged along the axis of the extension structure. The distance sensor is fixed to the support frame and spaced apart from the sensing plate along the axis of the extension structure. The distance sensor is used to detect the real-time distance between the sensing plate and the distance sensor.

[0006] The rectification structure of the present application integrates the distance sensor, and the sensing plate and the first guide wheel move synchronously. The distance sensor can detect the distance between the sensing plate and the distance sensor in real time, i.e., the distance between the first guide wheel and the distance sensor. In addition, the rectification structure includes a shell, and the distance sensor is arranged in the shell. The shell can prevent the distance sensor from being exposed to the outside, reducing the risk of damage to the distance sensor.

[0007] In a possible implementation, the support frame has a receiving groove, the telescopic structure includes a spring and a telescopic frame, one end of the telescopic frame is arranged in the receiving groove, the spring is sleeved on one end of the telescopic frame, and the other end of the telescopic frame is connected with the first guide wheel shaft and the sensing plate.

[0008] In a possible implementation, the deviation rectifying structure further includes a sensor support frame, the sensor support frame is connected with the support frame, and the distance sensor is arranged on the sensor support frame.

[0009] In a second aspect, the application further provides a cleaning robot, including a frame, a first walking structure, a second walking structure, two guide wheel structures, two deviation rectifying structures and a cleaning structure; the first walking structure, the second walking structure and the cleaning structure are arranged on the frame, the first walking structure and the second walking structure are located at two ends of the frame, the cleaning structure is arranged between the first walking structure and the second walking structure, two guide wheel structures are arranged in a first box included by the first walking structure, and two deviation rectifying structures are arranged in a second box included by the second walking structure, wherein the two deviation rectifying structures are arranged on two sides of the first box, and two guide wheel assemblies are arranged on two sides of the second box.

[0010] In the application, when the cleaning robot cleans the photovoltaic module, the cleaning robot is placed on the top wall of the photovoltaic module to be cleaned, and the top wall is cleaned. The first walking assembly and the second walking assembly are respectively located at opposite two edges of the photovoltaic module. The photovoltaic module includes a top wall, a side wall and a bottom wall connected with each other, wherein the top wall and the bottom wall are oppositely arranged. Two distance sensors in the two deviation rectifying structures respectively detect the real-time distance between the two sensing plates and the two distance sensors. In a normal working state, the connecting line of the first walking structure and the second walking structure is perpendicular to the length direction of the photovoltaic module. The distance between the distance sensor and the sensing plate in one deviation rectifying structure is the same as the distance between the distance sensor and the sensing plate in the other deviation rectifying structure. When the cleaning robot encounters an obstacle during movement, the first walking structure or the second walking structure is blocked by the obstacle and deviates, that is, the connecting line of the first walking structure and the second walking structure is not perpendicular to the length direction of the photovoltaic module, and the first guide wheels in the two deviation rectifying structures are telescoped to different degrees, so that the distance between the distance sensor and the sensing plate in the two deviation rectifying structures is different. At this time, the running state of the first walking structure is adjusted to adjust the relative position of the first walking structure and the second walking structure, and then the posture of the cleaning robot is adjusted to return to normal.

[0011] It is worth mentioning that the above obstacles are small obstacles, which do not completely block the cleaning robot from continuing to walk forward. The small obstacles can be soil, stones, bird droppings, etc. After encountering the above small obstacles, the first walking structure or the second walking structure will temporarily lag behind the walking structure on the opposite side due to the sudden increase in resistance, causing the walking posture of the cleaning robot to deviate.

[0012] In a possible implementation, the first walking structure further comprises a first driving motor, a first driving wheel, a first transmission part and a first driven wheel;

[0013] The first driving motor is configured to drive the first driving wheel and the first transmission part, and the first transmission part is connected with the first driven wheel to drive the first driven wheel.

[0014] The first driving motor and the first transmission part are arranged in the first box body, and the first driving wheel and the first driven wheel are arranged on the side of the first box body facing the photovoltaic module.

[0015] In a possible implementation, the first walking structure further comprises a first driving shaft, a first connecting key, a second connecting key and a third connecting key, the first driving shaft is connected with the output end of the first driving motor through the first connecting key, and the second connecting key and the third connecting key connect the first driving wheel and the first transmission part to the first driving shaft.

[0016] In a possible implementation, the first transmission part comprises a first sprocket, a second sprocket and a first chain, the first sprocket connects the first sprocket and the second sprocket, the first sprocket is connected with the first driving shaft through the second connecting key, and the second sprocket is connected with the first driven wheel through a first wheel shaft.

[0017] In a possible implementation, the first walking structure further comprises a first tensioning wheel, the first tensioning wheel is fixedly arranged in the first box body, and the first tensioning wheel is located between the first sprocket and the second sprocket, and the first tensioning wheel abuts against the first chain.

[0018] In a possible implementation, the guide wheel assembly comprises a second guide wheel, a second guide wheel shaft, a limiting wheel support and a bearing seat.

[0019] The limiting wheel support is connected with the second box body, the bearing seat is arranged in the limiting wheel support, and the second guide wheel shaft is connected with the second guide wheel through the limiting wheel support and the bearing seat.

[0020] The first guide wheel shaft and the second guide wheel shaft are parallel.

[0021] In a possible implementation, the first walking structure and the second walking structure are of the same structure.

[0022] In a possible implementation, the cleaning robot further comprises a controller electrically connected with the first walking structure, the second walking structure and the deviation rectifying structure, and the controller is configured to receive the real-time distance between the sensing plate and the distance sensor detected by the distance sensor in the deviation rectifying structure. BRIEF DESCRIPTION OF DRAWINGS

[0023] Figure 1 A structure diagram of a cleaning robot is provided for the embodiments of the present application;

[0024] Figure 2 A top view of a cleaning robot is provided for the embodiments of the present application;

[0025] Figure 3 A structure diagram of a first walking structure in a cleaning robot is provided for the embodiments of the present application;

[0026] Figure 4 A partial structure diagram of a first walking structure is provided for the embodiments of the present application;

[0027] Figure 5 Another partial structure diagram of a first walking structure is provided for the embodiments of the present application;

[0028] Figure 6 A structure diagram of a second walking structure in a cleaning robot is provided for the embodiments of the present application;

[0029] Figure 7 Another structure diagram of a second walking structure in a cleaning robot is provided for the embodiments of the present application;

[0030] Figure 8 A partial enlarged view of Figure 3 ;

[0031] Figure 9 A structure diagram of a deviation rectifying structure is provided for the embodiments of the present application;

[0032] Figure 10 A structure diagram of a guide wheel assembly is provided for the embodiments of the present application.

[0033] Icon: 10-frame; 20-first walking structure; 21-first box; 22-first drive motor; 23a-first driven walking wheel; 23b-first driving walking wheel; 24-first transmission part; 240-first sprocket; 241-second sprocket; 242-first chain; 25a-first drive shaft; 25b-first walking wheel shaft; 26a-first connecting key; 26b-second connecting key; 26c-third connecting key; 27-first tensioning wheel; 30-second walking structure; 31-second box; 32-second drive motor; 33a-second driven walking wheel; 33b-second driving walking wheel; 34-second transmission part; 340-third sprocket; 341-fourth sprocket; 342-second chain; 35a-second drive shaft; 35b-second walking wheel shaft; 36-second tensioning wheel; 40-guide wheel structure; 41-second guide wheel; 42-second guide wheel shaft; 43-limiting wheel support; 44-bearing seat; 50-deviation rectifying structure; 51-housing; 52-supporting frame; 520-first plate body; 521-second plate body; 522-third plate body; 53-telescopic structure; 530-telescopic frame; 531-spring; 54-first guide wheel; 55-distance sensor; 56-induction plate; 57-sensor support; 60-cleaning structure. DETAILED DESCRIPTION

[0034] The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative labor fall within the scope of protection of the present application.

[0035] Figure 1 A structural schematic diagram of a cleaning robot provided by the embodiments of the present application is shown in the figure. Figure 2 A top view of the cleaning robot provided by the embodiments of the present application is shown in the figure. Figure 2 The X direction is the line connecting the first walking structure 20 and the second walking structure 30, and the Y direction is the width direction of the photovoltaic module. Refer to Figure 1 and Figure 2The cleaning robot in the utility model comprises a frame 10, a first walking structure 20, a second walking structure 30, two guide wheel structures 40, two deviation rectifying structures 50 and a cleaning structure 60; the first walking structure 20, the second walking structure 30 and the cleaning structure 60 are arranged on the frame 10, the first walking structure 20 and the second walking structure 30 are located at two ends of the frame 10, the cleaning structure 60 is arranged between the first walking structure 20 and the second walking structure 30, the two guide wheel structures 40 are arranged on a first box body 21 included by the first walking structure 20, and the two deviation rectifying structures 50 are arranged on a second box body 31 included by the second walking structure 30, wherein: the two deviation rectifying structures 50 are arranged on two sides of the first box body 21, and two guide wheel assemblies are arranged on two sides of the two second box bodies 31.

[0036] In the application, when the cleaning robot cleans the photovoltaic module, the cleaning robot is placed on the top wall of the photovoltaic module to be cleaned, and the top wall is cleaned. The first walking assembly and the second walking assembly are respectively located at opposite two edges of the photovoltaic module. The photovoltaic module comprises a top wall, a side wall and a bottom wall connected with each other, wherein the top wall and the bottom wall are oppositely arranged. Two distance sensors 55 in the two deviation rectifying structures 50 detect the real-time distance between the two sensing plates 56 and the two distance sensors 55 respectively. In the normal working state, the connecting line of the first walking structure 20 and the second walking structure 30 is perpendicular to the width direction of the photovoltaic module. The distance between the distance sensor 55 and the sensing plate 56 in one deviation rectifying structure 50 is the same as the distance between the distance sensor 55 and the sensing plate 56 in the other deviation rectifying structure 50. When the cleaning robot encounters an obstacle during movement, the first walking structure 20 or the second walking structure 30 is blocked by the obstacle and deviates, that is, the connecting line of the first walking structure 20 and the second walking structure 30 is not perpendicular to the length direction of the photovoltaic module, and the first guide wheel 54 in the two deviation rectifying structures 50 will stretch and contract to different degrees, so that the distance between the distance sensor 55 and the sensing plate 56 in the two deviation rectifying structures 50 is different. At this time, the running state of the first walking structure 20 is adjusted to adjust the relative position of the first walking structure 20 and the second walking structure 30, and then the attitude of the cleaning robot is adjusted to make it return to normal.

[0037] It is worth mentioning that the cleaning robot further comprises a controller, the controller is electrically connected with the first walking structure 20, the second walking structure 30 and the deviation rectifying structure 50, and the controller is used for receiving the real-time distance between the sensing plate 56 and the distance sensor 55 detected by the distance sensor 55 in the deviation rectifying structure 50.

[0038] Figure 3 The structure diagram of the first walking structure in the cleaning robot provided by the utility model embodiment is shown. Figure 2 and Figure 3, the first walking structure 20 further comprises a first driving motor 22, a first driving walking wheel 23b, a first transmission part 24 and a first driven walking wheel 23a; the first driving motor 22 is used for driving the first driving walking wheel 23b and the first transmission part 24, and the first driving walking wheel 23b and the first transmission part 24 move synchronously, wherein the first transmission part 24 is connected with the first driven walking wheel 23a, so that the first driving motor 22 can synchronously drive the first driving walking wheel 23b and the first driven walking wheel 23a. The first driving motor 22 and the first transmission part 24 are both arranged in the first box body 21, and a first motor shell for accommodating the first driving motor 22 can also be arranged in the first box body 21; the first driving walking wheel 23b and the first driven walking wheel 23a are located outside the first box body 21, and are used for abutting against the top wall of the photovoltaic module.

[0039] Figure 4 A partial structure schematic view of the first walking structure 20 provided by the utility model embodiment is shown in Fig. 1. Figure 3 and Figure 4 The first walking structure 20 further comprises a first driving shaft 25a, a first connecting key 26a, a second connecting key 26b and a third connecting key, the first connecting key 26a connects the first driving shaft 25a with the output end of the first driving motor 22, the second connecting key 26b connects the first transmission part 24 with the first driving shaft 25a, and the third connecting key 26c connects the first driving walking wheel 23b with the first driving shaft 25a. The connecting mode of the keys can not only ensure the stability of the connection between the first driving shaft 25a and the output end of the first driving motor 22, the first transmission part 24 and the first driving walking wheel 23b, but also simplify the assembly process.

[0040] The first walking structure 20 further comprises a first tensioning wheel 27, the first tensioning wheel 27 is fixedly arranged in the first box body 21, and the first tensioning wheel 27 is located between the first sprocket 240 and the second sprocket 241, and the first tensioning wheel 27 abuts against the first chain 242.

[0041] Figure 5 Another partial structure schematic view of the first walking structure provided by the utility model embodiment is shown in Fig. 2. Figure 3 、 Figure 4 and Figure 5The first transmission part 24 comprises a first sprocket wheel 240, a second sprocket wheel 241 and a first chain 242, the first chain 242 connects the first sprocket wheel 240 and the second sprocket wheel 241, the first sprocket wheel 240 is connected with the first driving shaft 25a through the second connecting key 26b, and the second sprocket wheel 241 is connected with the first driven road wheel 23a through the first road wheel shaft 25b. Wherein, the fourth connecting key can be arranged between the second sprocket wheel 241 and the first road wheel shaft 25b, the fourth connecting key connects the second sprocket wheel 241 and the first road wheel shaft 25b, and the first road wheel shaft 25b is connected with the first driven road wheel 23a through the fifth connecting key.

[0042] In the above embodiment, the first walking structure 20 and the second walking structure 30 have the same structure. Specifically, Figure 6 The utility model embodiment provides a kind of structure schematic diagram of second walking structure in cleaning robot, Figure 7 The utility model embodiment provides another kind of structure schematic diagram of second walking structure in cleaning robot, refer to Figure 6 And Figure 7 The second walking structure 30 further includes a second driving motor 32, a second driving road wheel 33b, a second transmission part 34 and a second driven road wheel 33a; the second driving motor 32 is used to drive the second driving road wheel 33b and the second transmission part 34, and the second driving road wheel 33b and the second transmission part 34 move synchronously, wherein the second transmission part 34 is connected with the second driven road wheel 33a, so that the second driving motor 32 can synchronously drive the second driving road wheel 33b and the second driven road wheel 33a. The second driving motor 32 and the second transmission part 34 are both arranged in the second box body 31, and a second motor shell for accommodating the second driving motor 32 can also be arranged in the second box body 31; the second driving road wheel 33b and the second driven road wheel 33a are located outside the second box body 31, and are used to abut against the top wall of the photovoltaic module.

[0043] The second transmission part 34 comprises a third sprocket wheel 340, a fourth sprocket wheel 341 and a second chain 342, the second chain 342 connects the third sprocket wheel 340 and the fourth sprocket wheel 341, the third sprocket wheel 340 is connected with the second driving shaft 35a, and the third sprocket wheel 340 moves synchronously with the second driving shaft 35a; the fourth sprocket wheel 341 is connected with the second driven road wheel 33a through the second road wheel shaft 35b.

[0044] Wherein, the second walking structure 30 further includes a second tension wheel 36, the second tension wheel 36 is fixedly arranged in the second box body 31, and the second tension wheel 36 is located between the third sprocket wheel 340 and the fourth sprocket wheel 341; the second tension wheel 36 abuts against the second chain 342.

[0045] Figure 8 ForFigure 3 a local enlarged view of Figure 9 The structure diagram of the deviation rectifying structure is provided in the embodiment of the utility model, Figure 3 、 Figure 8 and Figure 9 The deviation rectifying structure 50 comprises a shell 51, a support frame 52, an extension structure 53, a first guide wheel 54, a distance sensor 55 and a sensing plate 56; the support frame 52 is used for being fixed to the first walking structure 21, the support frame 52, at least part of the extension structure 53 and the distance sensor 55 are arranged in the shell 51, one end of the extension structure 53 is fixed to the support frame 52, the other end of the extension structure 53 passes through the support frame 52, the first guide wheel 54 is arranged at the other end of the extension structure 53, and the first guide wheel 54 is located outside the shell 51, the sensing plate 56 is connected to the other end of the extension structure 53, and the sensing plate 56 is at least partially located outside the shell 51; the sensing plate 56 and the first guide wheel 54 are symmetrically arranged along the axis of the extension structure 53, the distance sensor 55 is fixed to the support frame 52, the distance sensor 55 and the sensing plate 56 are arranged in the interval along the axis direction of the extension structure 53, and the distance sensor 55 is used for detecting the real-time distance between the sensing plate 56 and the distance sensor 55.

[0046] The first guide wheel 54 is rotatably connected to the other end of the extension structure through a first guide wheel shaft.

[0047] The distance sensor 55 is integrated in the deviation rectifying structure 50 in the embodiment, the sensing plate 56 and the first guide wheel 54 move synchronously, the distance sensor 55 can detect the interval between the sensing plate 56 and the distance sensor 55 in real time, that is, the interval between the first guide wheel 54 and the distance sensor 55 can be detected. In addition, the shell 51 is included in the deviation rectifying structure 50, the distance sensor 55 is arranged in the shell 51, and the shell 51 can prevent the distance sensor 55 from being exposed to the outside, thereby reducing the risk of damage to the distance sensor 55.

[0048] The sensing plate 56 can be L-shaped.

[0049] In a possible implementation, the support frame 52 has a receiving groove, the telescopic structure 53 includes a spring 531 and a telescopic frame 530, one end of the telescopic frame 530 is arranged in the receiving groove, the spring 531 is sleeved on the one end of the telescopic frame 530, and the other end of the telescopic frame 530 is connected with the first guide wheel 54 shaft and the induction plate 56. When the cleaning robot deviates, the first guide wheel 54 can compress the telescopic frame 530, and then compress the spring 531, the telescopic frame 530 can drive the induction plate 56 to move along the telescopic direction of the telescopic frame 530, and the distance sensor 55 can collect the distance between the induction plate 56 and the distance sensor 55 in real time. Wherein, the support frame 52 can include a first plate body 520, a second plate body 521 and a third plate body 522, the second plate body 521 and the third plate body 522 are connected to the first plate body 520, and the second plate body 521 and the third plate body 522 are oppositely arranged, the second plate body 521 and the third plate body 522 can be perpendicular to the first plate body 520, and the first plate body 520, the second plate body 521 and the third plate body 522 form a receiving cavity. The part of the telescopic frame 530 in the receiving groove can be provided with a protruding portion, the spring 531 is located between the second plate body 521 and the protruding portion, and the telescopic frame 530 telescopes by compressing the spring 531 through the protruding portion.

[0050] When the support frame 52 is connected to the first box body 21, the connecting piece can pass through the first plate body 520 and be connected with the first box body 21, or the connecting piece can pass through the first plate body 520 and the shell 51 and be connected with the first box body 21.

[0051] In a possible implementation, the deviation rectifying structure 50 further includes a sensor support 57, the sensor support 57 is connected with the support frame 52, and the distance sensor 55 is arranged on the sensor support 57. The arrangement of the sensor support 57 can facilitate the arrangement of the distance sensor 55, and can also ensure that there is no other device between the distance sensor 55 and the induction plate 56, so as to ensure the accuracy of the distance sensor 55. Wherein, the sensor support 57 can also be L-shaped.

[0052] Figure 10 A structural schematic diagram of the guide wheel assembly is provided in the embodiment of the utility model, which is referred to as Figure 10The guide wheel assembly comprises a second guide wheel 41, a second guide wheel shaft 42, a limiting wheel support 43 and a bearing seat 44; the limiting wheel support 43 is connected with the second box body 31, the bearing seat 44 is arranged on the limiting wheel support 43, the second guide wheel shaft 42 is connected with the second guide wheel 41 by penetrating through the limiting wheel support 43 and the bearing seat 44, and the first guide wheel shaft 54 and the second guide wheel shaft 42 are parallel. The limiting wheel support 43 can be arranged in a few Chinese characters type, the limiting wheel support 43 and the second box body 31 are detachably connected through a connecting piece, and the relative position between the limiting wheel support 43 and the second box body 31 can be adjusted according to actual use requirements. The bearing seat 44 and the limiting wheel support 43 can also be fixed through a connecting piece.

[0053] It is worth mentioning that the guide wheel assembly can also comprise a box body, the box body can accommodate the limiting wheel support 43 and the bearing seat 44, and part of the second guide wheel shaft 42.

[0054] Obviously, those skilled in the art can make various modifications and variations to the embodiments of the present application without departing from the spirit and scope of the present application. Thus, if these modifications and variations of the present application belong to the scope of the claims of the present application and the equivalent technology, the present application also intends to include these modifications and variations.

Claims

1. A correction structure, characterized in that, The correction structure includes: a housing, a support frame, a telescopic structure, a first guide wheel, a distance sensor, and a sensing plate; The support frame is used to fix the first walking structure. The support frame, the distance sensor, and at least part of the telescopic structure are all disposed in the housing. One end of the telescopic structure is fixed to the support frame, and the other end of the telescopic structure passes through the support frame. The first guide wheel is disposed at the other end of the telescopic structure and is located outside the housing. The sensing plate is connected to the other end of the telescopic structure and is at least partially located outside the housing. The sensing plate and the first guide wheel are symmetrically arranged along the axis of the telescopic structure. The distance sensor is fixed to the support frame. The distance sensor and the sensing plate are spaced apart along the axial direction of the telescopic structure. The distance sensor is used to detect the real-time distance between the sensing plate and the distance sensor.

2. The correction structure as described in claim 1, characterized in that, The support frame has a receiving groove, and the telescopic structure includes a spring and a telescopic frame. One end of the telescopic frame is disposed in the receiving groove, the spring is sleeved on one end of the telescopic frame, and the other end of the telescopic frame is connected to the first guide wheel shaft and the sensing plate.

3. The correction structure as described in claim 2, characterized in that, The correction structure also includes a sensor bracket, which is connected to the support frame, and the distance sensor is mounted on the sensor bracket.

4. A cleaning robot, characterized in that, It includes a frame, a first walking structure, a second walking structure, two guide wheel structures, a cleaning structure, and two correction structures as described in any one of claims 1 to 3; The first walking structure, the second walking structure, and the cleaning structure are disposed on the frame. The first walking structure and the second walking structure are located at both ends of the frame, and the cleaning structure is disposed between the first walking structure and the second walking structure. Two guide wheel structures are disposed in the first housing included in the first walking structure, and two correction structures are disposed in the second housing included in the second walking structure, wherein: The two correction structures are arranged on both sides of the first housing, and the two guide wheel assemblies are arranged on both sides of the two second housings.

5. The cleaning robot as described in claim 4, characterized in that, The first walking structure also includes a first drive motor, a first active walking wheel, a first transmission unit, and a first driven walking wheel; The first drive motor is used to drive the first active wheel and the first transmission unit, the first transmission unit being connected to the first driven wheel to drive the first driven wheel, wherein: The first drive motor and the first transmission unit are disposed inside the first housing, and the first active walking wheel and the first driven walking wheel are disposed on the side of the first housing facing the photovoltaic module.

6. The cleaning robot as described in claim 5, characterized in that, The first walking structure further includes a first drive shaft, a first connecting key, a second connecting key, and a third connecting key. The first drive shaft is connected to the output end of the first drive motor via the first connecting key. The second connecting key and the third connecting key connect the first active walking wheel and the first transmission part to the first drive shaft.

7. The cleaning robot as described in claim 6, characterized in that, The first transmission unit includes a first sprocket, a second sprocket, and a first chain. The first sprocket connects the first sprocket and the second sprocket. The first sprocket is connected to the first drive shaft via a second connecting key. The second sprocket is connected to the first driven wheel via a first traveling wheel axle.

8. The cleaning robot as described in claim 5, characterized in that, The guide wheel assembly includes a second guide wheel, a second guide wheel shaft, a limit wheel bracket, and a bearing seat; The limiting wheel bracket is connected to the second housing, the bearing seat is disposed on the limiting wheel bracket, and the second guide wheel shaft passes through the limiting wheel bracket and the bearing seat and is connected to the second guide wheel, wherein: The first guide wheel shaft and the second guide wheel shaft are parallel.

9. The cleaning robot as described in claim 8, characterized in that, The first walking structure and the second walking structure have the same structure.

10. The cleaning robot according to any one of claims 4-9, characterized in that, The cleaning robot also includes a controller, which is electrically connected to the first walking structure, the second walking structure and the correction structure. The controller is used to receive the real-time distance between the sensing plate and the distance sensor detected by the distance sensor in the correction structure.

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