Photovoltaic cleaning robot and photovoltaic cleaning robot system

Abstract

The utility model belongs to the technical field of photovoltaic cleaning robots, and discloses a photovoltaic cleaning robot and a photovoltaic cleaning robot system.The photovoltaic cleaning robot comprises a chassis frame and two sets of walking assemblies, and two sets of crawler wheel mechanisms of the walking assemblies are connected to the two ends of a drive axle mechanism at intervals in the left-right direction of the chassis frame; the crawler wheel mechanism comprises at least two hubs and a crawler belt, and the crawler belt is provided with a plurality of suction holes annularly distributed in the circumferential direction. The drive axle mechanisms are connected to the chassis frame, a floating assembly is arranged between at least one drive axle mechanism and the chassis frame, the floating assembly comprises an installation groove and a floating pin shaft, the floating pin shaft extends in the direction of the chassis frame, and the floating pin shaft can be inserted into the installation groove in the mode of rotating around the axis of the floating pin shaft. The mounting groove is formed in one of the drive axle mechanism and the chassis frame, the floating pin shaft is arranged in the other one of the drive axle mechanism and the chassis frame, and the two sets of crawler wheel mechanisms are configured to rotate around the floating pin shaft. Through the arrangement, the walking stability of the photovoltaic cleaning robot can be improved, and the overturning and falling risks are reduced.

Description

A photovoltaic cleaning robot and a photovoltaic cleaning robot system Technical Field

[0001] This utility model relates to the field of photovoltaic cleaning robot technology, and in particular to a photovoltaic cleaning robot and a photovoltaic cleaning robot system. Background Technology

[0002] A photovoltaic cleaning robot is an automated device specifically designed to clean dust, dirt, and other impurities from the surface of photovoltaic panels. Photovoltaic panels are typically angled to improve power generation efficiency; therefore, photovoltaic cleaning robots usually employ tracked wheels with suction capabilities as their locomotion mechanism.

[0003] Existing photovoltaic cleaning robots are relatively large, and to maintain stable operation, they typically have four tracks positioned on the same plane. However, over time, photovoltaic panels often develop uneven or deformed areas. When the cleaning robot encounters these deformed areas, it's difficult for all four tracks to maintain simultaneous contact with the panel. This can result in two or even three tracks becoming suspended and unable to reach the panel. This leads to insufficient suction power in the walking mechanism, poor stability, and a potential risk of tipping over or even falling off the photovoltaic panel. Summary of the Invention

[0004] One objective of this utility model is to address one of the aforementioned technical problems. To achieve this objective, this utility model adopts the following technical solution:

[0005] A photovoltaic cleaning robot is provided, comprising:

[0006] Chassis frame;

[0007] Two sets of traveling components are spaced apart along the front-rear direction of the chassis frame. Each traveling component includes a drive axle mechanism and two sets of track wheel mechanisms. The two sets of track wheel mechanisms are spaced apart and connected to both ends of the drive axle mechanism along the left-right direction of the chassis frame. The drive axle mechanism is used to drive the two sets of track wheel mechanisms. Each track wheel mechanism includes at least two hubs spaced apart along the front-rear direction of the chassis frame and tracks fitted onto the hubs. The tracks have multiple suction holes arranged circumferentially, which can be attracted to the traveling surface.

[0008] The drive axle mechanism is connected to the chassis frame. At least one set of the drive axle mechanism and the chassis frame are provided with a floating component. The floating component includes a mounting groove and a floating pin. The axial direction of the floating pin extends along the front-rear direction of the chassis frame. The floating pin is rotatably inserted into the mounting groove about its own axis. The mounting groove is opened in one of the drive axle mechanism and the chassis frame. The floating pin is located in the other one. The two sets of track wheel mechanisms are configured to rotate about the floating pin.

[0009] In one embodiment, the mounting slot is formed at the bottom of the chassis frame, and the floating pin is disposed on the outer housing of the drive axle mechanism.

[0010] In one embodiment, the bottom of the chassis frame is provided with a mounting base, the mounting base including a detachably connected base and a top cover, at least one of the base and the top cover having a recess to enclose and form the mounting groove.

[0011] In one embodiment, the floating component includes two floating pins, which are respectively disposed on the front and rear sides of the housing. The bottom of the chassis frame is provided with two mounting seats, and the two mounting seats and the two floating pins correspond one-to-one.

[0012] In one embodiment, the walking assembly is located below the chassis frame, and a first gap exists between the walking assembly and the chassis frame along the height direction of the chassis frame;

[0013] And / or,

[0014] The bottom of the chassis frame is provided with a surrounding plate, which forms an installation frame. The drive axle mechanism is located inside the installation frame. Two sets of track wheel mechanisms are located on both sides of the installation frame. Along the left and right direction of the chassis frame, there is a second gap between the track wheel mechanism and the installation frame.

[0015] In one embodiment, the walking assembly further includes a tensioning mechanism for tensioning the track so that a portion of the track conforms to the walking surface.

[0016] In one embodiment, the track wheel mechanism further includes an intermediate support for supporting one end of the drive axle mechanism, the track wrapping around the periphery of the intermediate support, and the tensioning mechanism including a pressing member connected to the intermediate support, the pressing member always having a tendency to press down on the inner side of the track toward the running surface.

[0017] In one embodiment, the tensioning mechanism further includes:

[0018] A support arm, one end of which is hinged to the intermediate support, and the other end of which extends obliquely and is hinged to the lower pressure member, the support arm being configured to drive the lower pressure member to have a tendency to move toward the walking surface;

[0019] An elastic element, one end of which is connected to the intermediate support and spaced apart from the support arm along the height direction of the chassis frame, and the other end of which is connected to the end of the support arm, is used to apply elastic force to the support arm so that the support arm always has a tendency to rotate around the hinge axis.

[0020] In one embodiment, the pressure member has a tensioning portion and an inlet portion, the tensioning portion extending along the length direction of the track, the inlet portion being disposed at the end of the tensioning portion, the inlet portion and the tensioning portion being disposed at an angle, and the inlet portion extending obliquely upward toward the tensioning portion.

[0021] Another objective of this utility model is to address one of the aforementioned problems. To achieve this objective, this utility model employs the following technical solution in another aspect:

[0022] A photovoltaic cleaning robot system is provided, comprising a photovoltaic cleaning robot as described above and a drone transport device, wherein the drone transport device is used to deploy the photovoltaic cleaning robot onto a photovoltaic panel and to retrieve the photovoltaic cleaning robot from the photovoltaic panel.

[0023] The beneficial effects of this utility model are:

[0024] The photovoltaic cleaning robot provided by this utility model has a drive axle mechanism connected to a chassis frame. At least one drive axle mechanism and a floating component are provided between the drive axle mechanism and the chassis frame. The floating component includes a mounting groove and a floating pin. The axial direction of the floating pin extends along the front-rear direction of the chassis frame. The floating pin is rotatably inserted into the mounting groove around its own axis. The mounting groove is located in one of the drive axle mechanism and the chassis frame, and the floating pin is located in the other. The floating pin rotates around its own axis within the mounting groove, allowing two sets of track wheel mechanisms to rotate around the floating pin. The two sets of track wheel mechanisms oscillate left and right relative to the chassis frame to adapt to uneven walking surfaces, thereby maintaining constant contact with the walking surface. The floating components can be installed on the front of the chassis frame's walking assembly, allowing the two sets of tracked wheels at the front to swing left and right relative to the chassis frame; alternatively, the floating components can be installed on the rear of the chassis frame's walking assembly, allowing the two sets of tracked wheels at the rear to swing left and right relative to the chassis frame; or, floating components can be installed on both the front and rear walking assemblies of the chassis frame, allowing the two sets of tracked wheels on the front and rear sides to swing left and right relative to the chassis frame respectively. When the photovoltaic cleaning robot walks on uneven surfaces, at least three sets of tracked wheels can contact the surface, forming three stable supports to improve the chassis frame's stability. Furthermore, this increases the number of suction holes for adsorption onto the surface, enhancing the walking assembly's adhesion and reducing the risk of the photovoltaic cleaning robot tipping over or falling off the surface.

[0025] The photovoltaic cleaning robot system provided by this utility model includes the aforementioned photovoltaic cleaning robot. When the photovoltaic cleaning robot walks on uneven surfaces, at least three sets of track wheel mechanisms can contact the walking surface, which improves the walking stability of the photovoltaic cleaning robot and helps to improve cleaning efficiency. Attached Figure Description

[0026] Figure 1 is a partial structural schematic diagram of the photovoltaic cleaning robot provided in an embodiment of the present invention from one perspective;

[0027] Figure 2 is a structural schematic diagram of the photovoltaic cleaning robot provided in an embodiment of the present invention from another perspective;

[0028] Figure 3 is a partially enlarged schematic diagram of part A in Figure 2;

[0029] Figure 4 is a partial structural front view of the photovoltaic cleaning robot provided in an embodiment of this utility model;

[0030] Figure 5 is a top view of the structure of the photovoltaic cleaning robot provided in an embodiment of this utility model;

[0031] Figure 6 is a structural schematic diagram of the track wheel mechanism and tensioning mechanism provided in the embodiment of this utility model;

[0032] Figure 7 is a structural schematic diagram of the photovoltaic cleaning robot provided in an embodiment of the present invention;

[0033] Figure 8 is a structural schematic diagram of the photovoltaic cleaning robot system provided in an embodiment of this utility model.

[0034] In the picture:

[0035] 1. Chassis frame; 11. Mounting base; 111. Base; 112. Top cover; 12. Side panel; 2. Travel assembly; 21. Drive axle mechanism; 22. Track wheel mechanism; 221. Wheel hub; 222. Track; 2221. Suction hole; 223. Intermediate support; 23. Tensioning mechanism; 231. Lower pressure component; 2311. Tensioning part; 2312. Guide part; 232. Support arm; 233. Elastic component; 3. Floating assembly; 31. Floating pin; 32. Mounting slot;

[0036] 100. Cleaning equipment; 200. Unmanned aerial vehicle (UAV) transport equipment. Detailed Implementation

[0037] The technical solution of this utility model will now be clearly and completely described with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of this utility model. Based on the embodiments of this utility model, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this utility model.

[0038] In the description of this utility model, it should be noted that the terms "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," and "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used only for the convenience of describing this utility model and for simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this utility model. Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance. The terms "first position" and "second position" refer to two different positions. Moreover, "above," "on top of," and "over" the first feature in relation to the second feature includes the first feature directly above and diagonally above the second feature, or simply indicates that the first feature is at a higher horizontal level than the second feature. "Below," "under," and "below" the first feature in relation to the second feature includes the first feature directly below and diagonally below the second feature, or simply indicates that the first feature is at a lower horizontal level than the second feature.

[0039] In the description of this utility model, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "joining" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this utility model based on the specific circumstances.

[0040] The embodiments of this utility model are described in detail below. Examples of these embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain this utility model, and should not be construed as limiting this utility model.

[0041] As shown in Figures 1 to 3, this embodiment first provides a photovoltaic cleaning robot capable of walking on a walking surface. The walking surface includes, but is not limited to, photovoltaic panels.

[0042] The photovoltaic cleaning robot includes a chassis frame 1 and two sets of walking components 2. For ease of description below, the front-back direction of the chassis frame 1 is defined to be consistent with the walking direction of the photovoltaic cleaning robot. The length of the chassis frame 1 extends along its own front-back direction, the width of the chassis frame 1 extends along its own left-right direction, and the height direction of the chassis frame 1 is perpendicular to both the front-back and left-right directions. The two sets of walking components 2 are spaced apart along the front-back direction of the chassis frame 1. The walking components 2 include a drive axle mechanism 21 and two sets of track wheel mechanisms 22. The two sets of track wheel mechanisms 22 are spaced apart at both ends of the drive axle mechanism 21 along the left-right direction of the chassis frame 1. The drive axle mechanism 21 is used to drive the two sets of track wheel mechanisms 22. The track wheel mechanism 22 includes at least two hubs 221 spaced apart along the front-back direction of the chassis frame 1 and tracks 222 fitted onto the hubs 221. The tracks 222 have multiple suction holes 2221 arranged circumferentially, which can adhere to the walking surface. The drive axle mechanism 21 drives the wheel hub 221. As the wheel hub 221 rotates, it causes the track 222 to rotate around, thus moving the chassis frame 1. During the rotation of the track 222, some of the suction holes 2221 contact the walking surface and can adhere to it.

[0043] The drive axle mechanism 21 is connected to the chassis frame 1. At least one drive axle mechanism 21 and chassis frame 1 are provided with a floating component 3. The floating component 3 includes a mounting groove 32 and a floating pin 31. The axial direction of the floating pin 31 extends along the front-rear direction of chassis frame 1. The floating pin 31 is rotatably inserted into the mounting groove 32 around its own axis. The mounting groove 32 is formed in one of the drive axle mechanism 21 and chassis frame 1, and the floating pin 31 is set in the other one. The floating pin 31 rotates around its own axis in the mounting groove 32, so that the two sets of track wheel mechanisms 22 can rotate around the floating pin 31. The two sets of track wheel mechanisms 22 swing left and right relative to chassis frame 1 to adapt to the uneven walking surface, thereby keeping the two sets of track wheel mechanisms 22 in contact with the walking surface at all times. The floating component 3 can be installed on the front of the walking component 2 of the chassis frame 1, so that the two sets of track wheel mechanisms 22 on the front side can swing left and right relative to the chassis frame 1; or, the floating component 3 can be installed on the rear of the walking component 2 of the chassis frame 1, so that the two sets of track wheel mechanisms 22 on the rear side can swing left and right relative to the chassis frame 1; or, the walking components 2 on both the front and rear sides of the chassis frame 1 can be equipped with the floating component 3, so that the two sets of track wheel mechanisms 22 on the front and rear sides of the walking component 2 can swing left and right relative to the chassis frame 1 respectively. When the photovoltaic cleaning robot walks on an uneven walking surface, at least three sets of track wheel mechanisms 22 can contact the walking surface, forming three stable supports to improve the stability of the chassis frame 1, and correspondingly increasing the number of suction holes 2221 adsorbed on the walking surface, improving the adsorption force of the walking component 2 on the walking surface, and reducing the risk of the photovoltaic cleaning robot tipping over or even falling off the walking surface.

[0044] The suction force of the suction hole 2221 comes from a vacuum pump (not shown in the figure). A connecting pipe is provided between the vacuum pump and the track wheel mechanism 22. When the vacuum pump is working, a negative pressure chamber is formed in the connecting pipe. The air inlet end of the connecting pipe faces downwards from the chassis frame 1 to align with the inner side of the track 222. The suction hole 2221 on the part of the track 222 that rotates to abut against the walking surface faces the air inlet end of the connecting pipe, and the walking surface is adsorbed under the negative pressure of the connecting pipe. The specific structure of the drive axle mechanism 21 and the principle of the drive axle mechanism 21 driving the track wheel mechanism 22 can be set with reference to the existing technology, and will not be described in detail here.

[0045] In one embodiment, the floating component 3 is disposed on the walking component 2 at the rear of the chassis frame 1. The two sets of track wheel mechanisms 22 at the rear of the chassis frame 1 can rotate around the floating pin 31, and the two sets of track wheel mechanisms 22 at the front of the chassis frame 1 are located in the same plane when walking. When the photovoltaic cleaning robot walks on an uneven walking surface, the two sets of track wheel mechanisms 22 of the rear walking component 2 and at least one set of track wheel mechanisms 22 of the front walking component 2 can contact the walking surface to stably support the chassis frame 1.

[0046] In one embodiment, the mounting groove 32 is formed at the bottom of the chassis frame 1, and the floating pin 31 is disposed on the outer housing of the drive axle mechanism 21, which can improve the convenience of installation of the walking assembly 2.

[0047] Specifically, a mounting base 11 is provided at the bottom of the chassis frame 1. The mounting base 11 includes a detachably connected base 111 and a top cover 112. The base 111 is fixed to the chassis frame 1. At least one of the base 111 and the top cover 112 has a recess to form a mounting groove 32. In one embodiment, both the base 111 and the top cover 112 are provided with recesses. When the base 111 and the top cover 112 are closed together, the two recesses correspondingly form the mounting groove 32. When installing the walking component 2, the top cover 112 is removed, and the walking component 2 is moved from the bottom of the chassis frame 1 close to the base 111 on the chassis frame 1 until the floating pin 31 is embedded in the recess. Then, the top cover 112 is closed, and the base 111 and the top cover 112 are fixed by fastening screws. The floating pin 31 is constrained within the mounting groove 32.

[0048] In one embodiment, the floating component 3 includes two floating pins 31, which are respectively disposed on the front and rear sides of the outer casing. The bottom of the chassis frame 1 is correspondingly provided with two mounting seats 11, each corresponding to one of the two floating pins 31. The two floating pins 31 provide rotational support from the front and rear sides of the walking component 2, providing better support for the walking component 2 and maintaining its front-rear balance.

[0049] In one embodiment, the drive axle mechanism 21 of the walking assembly 2 and the two sets of track wheel mechanisms 22 are both located below the chassis frame 1. Along the height direction of the chassis frame 1, there is a first gap between the walking assembly 2 and the chassis frame 1. As shown in Figure 4, L1 in the figure is the first gap between the track wheel mechanism 22 and the chassis frame 1. When the two sets of track wheel mechanisms 22 swing left and right around the axial direction of the floating pin 31, the existence of the first gap can prevent interference between the side of the walking assembly 2 swinging upward and the bottom of the chassis frame 1.

[0050] A surrounding plate 12 is provided at the bottom of the chassis frame 1, forming a mounting frame. The drive axle mechanism 21 is disposed within the mounting frame, and two sets of track wheel mechanisms 22 are located on both sides of the mounting frame. Along the left-right direction of the chassis frame 1, there is a second gap between the track wheel mechanism 22 and the surrounding plate 12. As shown in Figure 2, L2 in Figure 5 represents the second gap between the track wheel mechanism 22 and the surrounding plate 12. When the two sets of track wheel mechanisms 22 swing left and right around the axis of rotation of the floating pin 31, the existence of the second gap can prevent interference between the track wheel mechanism 22 and the surrounding plate 12 in the left-right direction. This application does not limit the specific values ​​of the first gap and the second gap.

[0051] As shown in Figure 6, in order to further increase the walking stability of the walking component 2, the walking component 2 also includes a tensioning mechanism 23. The tensioning mechanism 23 is used to tension the track 222 so that part of the track 222 fits into the walking surface, thereby increasing the number of suction holes 2221 adsorbed on the walking surface and improving the adsorption force between the walking component 2 and the walking surface.

[0052] Optionally, the track wheel mechanism 22 further includes an intermediate support 223, which supports one end of the drive axle mechanism 21, and the track 222 wraps around the periphery of the intermediate support 223. The track wheel mechanism 22 has two hubs 221, which are located on the front and rear sides of the intermediate support 223, respectively. The tensioning mechanism 23 includes a pressing member 231 connected to the intermediate support 223, which always tends to press down on the inner side of the track 222 towards the walking surface. Mounting the pressing member 231 on the intermediate support 223 will not interfere with the rotation of the track 222 and the hubs 221.

[0053] To generate downward pressure on the pressing member 231, the tensioning mechanism 23 also includes a support arm 232 and an elastic member 233. One end of the support arm 232 is hinged to the intermediate support 223, and the other end extends obliquely and is hinged to the pressing member 231. The support arm 232 is configured to drive the pressing member 231 to have a tendency to move toward the running surface. One end of the elastic member 233 is connected to the intermediate support 223 and is spaced apart from the support arm 232 along the height direction of the chassis frame 1. The other end of the elastic member 233 is connected to the end of the support arm 232. The elastic member 233 is used to apply a spring force to the support arm 232 so that the support arm 232 always has a tendency to rotate about the hinge axis. The elastic element 233 is a tension spring. The elastic force applied by the elastic element 233 to the support arm 232 is a downward force, which makes the support arm 232 have a tendency to rotate around the hinge axis. This tendency to move acts on the pressure member 231, which makes the pressure member 231 form a downward pressure on the inside of the track 222 to tension the track 222.

[0054] Optionally, the pressure member 231 has a tensioning portion 2311 and a guide portion 2312. The tensioning portion 2311 extends along the length of the track 222, and the guide portion 2312 is disposed at the end of the tensioning portion 2311. The guide portion 2312 and the tensioning portion 2311 are arranged at an angle, and the guide portion 2312 extends obliquely upward toward the tensioning portion 2311. Since the track 222 near the hub 221 has a certain curvature, the guide portion 2312, which extends obliquely upward toward the tensioning portion 2311, guides the track 222 into the area below the tensioning portion 2311, reducing the risk of collision between the track 222 and the end of the pressure member 231 during movement.

[0055] In one embodiment, both ends of the tensioning part 2311 are provided with guide parts 2312, so as to adapt to the different rotation directions of the track 222 when the hub 221 rotates forward or backward.

[0056] Since the tensioning part 2311 has a certain extension length, in one embodiment, the tensioning mechanism 23 is provided with two support arms 232. The two support arms 232 are spaced apart along the length direction of the tensioning part 2311 to provide downward pressure from both ends of the tensioning part 2311, so as to avoid one end of the tensioning part 2311 from tilting up and the tension force being insufficient.

[0057] This utility model embodiment further provides a photovoltaic cleaning robot system, which includes a photovoltaic cleaning robot as described in any of the above embodiments and a drone transport device 200, as shown in Figure 8. The drone transport device 200 is used to deploy the photovoltaic cleaning robot onto the photovoltaic panel and to retrieve the photovoltaic cleaning robot from the photovoltaic panel.

[0058] The cleaning device 100 of the photovoltaic cleaning robot is mounted on the chassis frame 1, as shown in Figure 7. The drive axle mechanism 21 of the photovoltaic cleaning robot is connected to the chassis frame 1. At least one set of drive axle mechanisms 21 and chassis frame 1 are provided with a floating component 3. The floating component 3 includes a mounting groove 32 and a floating pin 31. The axial direction of the floating pin 31 extends along the front-rear direction of chassis frame 1. The floating pin 31 is rotatably inserted into the mounting groove 32 around its own axis. The mounting groove 32 is opened in one of the drive axle mechanisms 21 and chassis frame 1, and the floating pin 31 is located in the other one. The floating pin 31 rotates around its own axis in the mounting groove 32, so that the two sets of track wheel mechanisms 22 can rotate around the floating pin 31. The two sets of track wheel mechanisms 22 swing left and right relative to chassis frame 1 to adapt to the uneven walking surface, thereby keeping the two sets of track wheel mechanisms 22 in contact with the walking surface at all times. When the photovoltaic cleaning robot walks on an uneven surface, at least three sets of track wheel mechanisms 22 can contact the surface to form three stable supports to improve the stability of the chassis frame 1. The number of suction holes 2221 adsorbed on the surface is increased accordingly, which enhances the adsorption force of the walking components 2 on the surface, reduces the risk of the photovoltaic cleaning robot tipping over or even falling off the surface, and helps to improve the cleaning efficiency of the photovoltaic cleaning robot.

[0059] Obviously, the above embodiments of this utility model are merely examples for clearly illustrating the present utility model, and are not intended to limit the implementation of the present utility model. Those skilled in the art can make various obvious changes, readjustments, and substitutions without departing from the protection scope of this utility model. It is neither necessary nor possible to exhaustively describe all embodiments here. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of this utility model should be included within the protection scope of the claims of this utility model.

Claims

1. A photovoltaic cleaning robot, characterized in that, include: A chassis frame (1); two sets of walking components (2), the two sets of walking components (2) are spaced apart along the front-rear direction of the chassis frame (1), each walking component (2) includes a drive axle mechanism (21) and two sets of track wheel mechanisms (22), the two sets of track wheel mechanisms (22) are spaced apart along the left-right direction of the chassis frame (1) and connected to both ends of the drive axle mechanism (21), the drive axle mechanism (21) is used to drive the two sets of track wheel mechanisms (22), each track wheel mechanism (22) includes at least two hubs (221) spaced apart along the front-rear direction of the chassis frame (1) and tracks (222) fitted onto the hubs (221), the tracks (222) have multiple suction holes (2221) arranged circumferentially, the suction holes (2221) are provided with ... 221) It can adhere to the walking surface; wherein, the drive axle mechanism (21) is connected to the chassis frame (1), and at least one set of the drive axle mechanism (21) and the chassis frame (1) is provided with a floating component (3), the floating component (3) includes a mounting groove (32) and a floating pin (31), the axial direction of the floating pin (31) extends along the front and rear direction of the chassis frame (1), the floating pin (31) is rotatably inserted into the mounting groove (32) about its own axis, the mounting groove (32) is opened in one of the drive axle mechanism (21) and the chassis frame (1), the floating pin (31) is provided in the other one, and two sets of track wheel mechanisms (22) are configured to rotate about the floating pin (31).

2. The photovoltaic cleaning robot according to claim 1, characterized in that, The mounting groove (32) is located at the bottom of the chassis frame (1), and the floating pin (31) is located on the outer shell of the drive axle mechanism (21).

3. The photovoltaic cleaning robot according to claim 2, characterized in that, The bottom of the chassis frame (1) is provided with a mounting base (11), which includes a detachably connected base (111) and a top cover (112). At least one of the base (111) and the top cover (112) has a recess to enclose and form the mounting groove (32).

4. The photovoltaic cleaning robot according to claim 3, characterized in that, The floating component (3) includes two floating pins (31), which are respectively disposed on the front and rear sides of the outer shell. The bottom of the chassis frame (1) is provided with two mounting seats (11), and the two mounting seats (11) and the two floating pins (31) correspond one-to-one.

5. The photovoltaic cleaning robot according to any one of claims 1 to 4, characterized in that, The walking assembly (2) is located below the chassis frame (1), and there is a first gap between the walking assembly (2) and the chassis frame (1) along the height direction of the chassis frame (1); and / or, a surrounding plate (12) is provided at the bottom of the chassis frame (1), the surrounding plate (12) surrounds to form an installation frame, the drive axle mechanism (21) is disposed in the installation frame, and two sets of track wheel mechanisms (22) are respectively located on both sides of the installation frame, and there is a second gap between the track wheel mechanism (22) and the installation frame along the left and right direction of the chassis frame (1).

6. The photovoltaic cleaning robot according to any one of claims 1 to 4, characterized in that, The walking assembly (2) further includes a tensioning mechanism (23) for tensioning the track (222) so that a portion of the track (222) conforms to the walking surface.

7. The photovoltaic cleaning robot according to claim 6, characterized in that, The track wheel mechanism (22) further includes an intermediate support (223) for supporting one end of the drive axle mechanism (21). The track (222) is wrapped around the periphery of the intermediate support (223). The tensioning mechanism (23) includes a pressing member (231) connected to the intermediate support (223). The pressing member (231) always has a tendency to press down on the inner side of the track (222) toward the walking surface.

8. The photovoltaic cleaning robot according to claim 7, characterized in that, The tensioning mechanism (23) further includes: a support arm (232), one end of which is hinged to the intermediate support (223), and the other end extends obliquely and is hinged to the pressure member (231), the support arm (232) being configured to drive the pressure member (231) to have a tendency to move toward the walking surface; and an elastic member (233), one end of which is connected to the intermediate support (223) and is spaced apart from the support arm (232) along the height direction of the chassis frame (1), the other end of which is connected to the end of the support arm (232), the elastic member (233) being used to apply elastic force to the support arm (232) so that the support arm (232) always has a tendency to rotate about the hinge axis.

9. The photovoltaic cleaning robot according to claim 7, characterized in that, The pressing member (231) has a tensioning part (2311) and an inlet part (2312). The tensioning part (2311) extends along the length direction of the track (222). The inlet part (2312) is disposed at the end of the tensioning part (2311). The inlet part (2312) and the tensioning part (2311) are disposed at an angle. The inlet part (2312) extends obliquely upward toward the tensioning part (2311).

10. A photovoltaic cleaning robot system, characterized in that, Includes a photovoltaic cleaning robot as described in any one of claims 1-9 and a drone transport device (200), wherein the drone transport device (200) is used to deploy the photovoltaic cleaning robot onto a photovoltaic panel and to retrieve the photovoltaic cleaning robot from the photovoltaic panel.

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