Crawler track and photovoltaic cleaning robot

Abstract

The application provides a track walking device and a photovoltaic cleaning robot. The track walking device comprises a robot body and a track assembly. The robot body is provided with a box body. The track assembly comprises a driving wheel, a driven wheel, a track, a support frame and at least one tension wheel module. The driving wheel and the driven wheel are rotatably connected to the box body and are located on the outside of the box body. The track is sleeved on the driving wheel and the driven wheel and links the driving wheel and the driven wheel. The track rotates in a ring shape with the rotation of the driving wheel and can walk on the surface of a photovoltaic module. The support frame is located on the inside of the track and is connected to the box body. The tension wheel module is connected to the support frame. The tension wheel module elastically moves relative to the support frame and applies an elastic force to the track to dynamically tension the track. The elastic tensioning effect of the track is ensured, the walking stability of the track walking device is improved, and the walking noise of the track walking device is reduced.

Description

Technical Field

[0001] This utility model relates to the technical field of photovoltaic cleaning robots, and in particular to a tracked walking device and a photovoltaic cleaning robot. Background Technology

[0002] With the development of technology, photovoltaic cleaning robots are gradually being applied in people's lives, industry, and commerce. These robots are used to clean photovoltaic modules, and the tracked walking device is an integral part of the robot. In existing technology, the tracked walking device includes a robot body and a track assembly. The track assembly is connected to the robot body and moves relative to the surface of the photovoltaic module. However, the track assembly cannot be dynamically tensioned, resulting in poor walking stability of the existing tracked walking device. Utility Model Content

[0003] The purpose of this utility model is to provide a tracked walking device and a photovoltaic cleaning robot. The robot body is equipped with a box, and the box has a receiving cavity. The track assembly includes a drive wheel, a driven wheel, a track, a support frame, and at least one tensioning wheel module. The drive wheel and the driven wheel are rotatably connected to the box and are located on the outside of the box. The track is fitted onto the drive wheel and the driven wheel and is linked to the drive wheel and the driven wheel. The track rotates in a ring as the drive wheel rotates and can walk on the surface of the photovoltaic module. The support frame is located on the inside of the track and is connected to the box. The tensioning wheel module is connected to the support frame and moves elastically relative to the support frame, applying an elastic force to the track to dynamically tension the track, ensuring the elastic tension effect of the track, improving the walking stability of the tracked walking device, and reducing the walking noise of the tracked walking device.

[0004] To achieve the above objectives, this utility model provides the following technical solution: a tracked walking device, characterized in that the tracked walking device is applied to a photovoltaic cleaning robot; the tracked walking device includes:

[0005] The robot body has a box-like structure, and the box-like structure has a receiving cavity;

[0006] The track assembly includes a drive wheel, driven wheels, a track, a support frame, and at least one tensioning wheel module; the drive wheel and the plurality of driven wheels are rotatably connected to the housing and are located on the outside of the housing; the track is sleeved on the drive wheel and the driven wheels and is linked to the drive wheel and the driven wheels; the track rotates in a ring as the drive wheel rotates and is able to travel on the surface of the photovoltaic module;

[0007] The support frame is located inside the track and connected to the housing; the tension wheel module is connected to the support frame, and the tension wheel module moves elastically relative to the support frame and applies an elastic force to the track to provide elastic shock absorption for the track's movement.

[0008] Optionally, there are multiple tension wheel modules, which are arranged along the length of the support frame and act on different positions of the track.

[0009] Optionally, the tensioning wheel module includes a first connecting frame and multiple tensioning wheels;

[0010] The first connecting frame is movably connected to the support frame;

[0011] Multiple tensioning rollers are rotatably connected to the first connecting frame and are located at different positions on the first connecting frame; the multiple tensioning rollers continuously contact the track as the first connecting frame moves relative to the support frame.

[0012] Optionally, the first connecting frame is provided with a first connecting part, a first supporting part, and a plurality of first rotating parts;

[0013] The first connecting part is rotatably connected to the support frame;

[0014] The first support portion is disposed on one side of the first connecting portion and is elastically movable relative to the support frame; there is an elastic force between the first support portion and the support frame;

[0015] Multiple tensioning wheels are rotatably connected to corresponding first rotating parts, and multiple first rotating parts are arranged on both sides of the first connecting part.

[0016] Optionally, the support frame is connected to a first connecting shaft;

[0017] The first support is connected to a second connecting shaft, and a first elastic module is provided between the second connecting shaft and the first connecting shaft. The first elastic module is connected to the first connecting shaft and applies an elastic force to the second connecting shaft.

[0018] The second connecting shaft compresses or releases the first elastic module as the first connecting frame moves relative to the support frame.

[0019] Optionally, the first elastic module includes a first connecting sleeve and a first elastic element;

[0020] The first connecting sleeve is rotatably connected to the first connecting shaft and is capable of rotating along the axis of the first connecting shaft;

[0021] The second connecting shaft is movably inserted through the first connecting sleeve, and the first elastic member is sleeved on the first connecting sleeve. The two ends of the first elastic member elastically contact the peripheral sidewall of the second connecting shaft and the sidewall of the first connecting sleeve, respectively.

[0022] The first connecting sleeve is provided with a first elongated hole, which extends along the length of the first connecting sleeve; the second connecting shaft is inserted into the first elongated hole and can move within the first elongated hole.

[0023] Optionally, the track is arranged in a ring, and the track has a curved portion located at the bottom corner of the track;

[0024] Multiple tensioning wheels are located near the curved portion, and the first gear portion of the multiple tensioning wheels engages with the internal teeth of the track and remains in a continuous engagement state.

[0025] Optionally, the track assembly further includes multiple shock-absorbing wheel modules, all of which are connected to the same support frame and are arranged sequentially along the length of the support frame;

[0026] Each of the aforementioned shock-absorbing wheel modules includes a second connecting frame and a shock-absorbing wheel; the second connecting frame is provided with a second connecting part, a second supporting part, and a second rotating part;

[0027] The second connecting part is rotatably connected to the support frame;

[0028] The second support portion is disposed on one side of the second connecting portion and is elastically movable relative to the support frame; there is an elastic force between the second support portion and the support frame;

[0029] The shock-absorbing wheel is rotatably connected to the corresponding second rotating part and engages with the bottom of the track.

[0030] Optionally, the support frame is connected to a third connecting shaft;

[0031] The second support is connected to a fourth connecting shaft, and a second elastic module is provided between the fourth connecting shaft and the third connecting shaft. The second elastic module is connected to the third connecting shaft and applies an elastic force to the fourth connecting shaft.

[0032] The fourth connecting shaft compresses or releases the second elastic module as the second connecting frame moves relative to the support frame;

[0033] The second elastic module includes a second connecting sleeve and a second elastic element;

[0034] The second connecting sleeve is rotatably connected to the third connecting shaft and is capable of rotating along the axis of the third connecting shaft;

[0035] The fourth connecting shaft is movably inserted through the second connecting sleeve, and the second elastic element is sleeved on the second connecting sleeve. The two ends of the second elastic element elastically contact the peripheral sidewall of the fourth connecting shaft and the sidewall of the second connecting sleeve, respectively.

[0036] To achieve the above objectives, this utility model provides the following technical solution: a photovoltaic cleaning robot, including the aforementioned tracked walking device.

[0037] Compared with the prior art, the beneficial effects of this utility model are:

[0038] This utility model provides a tracked walking device and a photovoltaic cleaning robot. The robot body has a box with a receiving cavity. The track assembly includes a drive wheel, a driven wheel, a track, a support frame, and at least one tensioning wheel module. The drive wheel and the driven wheel are rotatably connected to the box and are located on the outside of the box. The track is fitted onto the drive wheel and the driven wheel and is linked to them. The track rotates in a ring as the drive wheel rotates and can walk on the surface of the photovoltaic module. The support frame is located inside the track and connected to the box. The tensioning wheel module is connected to the support frame and moves elastically relative to the support frame, applying an elastic force to the track to dynamically tension it, ensuring the elastic tension effect of the track, improving the walking stability of the tracked walking device, and reducing the walking noise of the tracked walking device. Attached Figure Description

[0039] To more clearly illustrate the technical solutions in the embodiments of this application, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0040] To gain a more complete understanding of this application and its beneficial effects, the following description will be provided in conjunction with the accompanying drawings. In the following description, the same reference numerals denote the same parts.

[0041] Figure 1 A schematic diagram of a tracked walking device according to an embodiment of this application is shown.

[0042] Figure 2 A schematic diagram showing the connection of the track assembly, motor, and gear transmission module of a tracked walking device according to an embodiment of this application is illustrated.

[0043] Figure 3 A schematic diagram showing the connection of the support frame, tension wheel module, and shock absorber module of a tracked walking device according to an embodiment of this application is provided.

[0044] Figure 4 A schematic diagram showing the connection between the tension wheel module and the first elastic module of a tracked walking device according to an embodiment of this application is shown.

[0045] Figure 5 A schematic diagram showing the connection between the shock-absorbing wheel module and the second elastic module of a tracked walking device according to an embodiment of this application is shown.

[0046] Figure Labels

[0047] 100. Tracked walking device;

[0048] 10. Robot body; 11. Box; 11a. Receiving cavity;

[0049] 20. Track assembly; 21. Drive sprocket; 22. Driven sprocket; 23. Track; 231. Bending section; 24. Support frame; 241. First connecting shaft; 242. Third connecting shaft; 25. Tensioner module; 251. First connecting frame; 2511. First connecting part; 2512. First support part; 25121. Second connecting shaft; 2513. First rotating part; 252. Tensioner; 26. First elastic module; 261. First connecting sleeve; 261a. First elongated hole; 262. First elastic element; 27. Shock-absorbing wheel module; 271. Second connecting frame; 2711. Second connecting part; 2712. Second support part; 27121. Fourth connecting shaft; 2713. Second rotating part; 272. Shock-absorbing wheel; 28. Second elastic module; 281. Second connecting sleeve; 281a. Second elongated hole; 282. Second elastic element;

[0050] 30. Electric motor;

[0051] 40. Gear transmission module. Detailed Implementation

[0052] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of this application, and not all of them. All other embodiments obtained by those skilled in the art based on the embodiments of this application without creative effort are within the scope of protection of this application.

[0053] Please refer to the attached document. Figures 1-5 This application provides a tracked walking device 100, which is applied to a photovoltaic cleaning robot and is used to walk on the surface of photovoltaic modules.

[0054] Please refer to the attached document. Figures 1-5In this embodiment, the tracked walking device 100 includes a robot body 10 and a track assembly 20. The robot body 10 is provided with a housing 11, and the housing 11 is provided with a receiving cavity 11a. The track assembly 20 includes a drive wheel 21, a driven wheel 22, a track 23, a support frame 24, and at least one tensioning wheel module 25. The drive wheel 21 and the driven wheel 22 are rotatably connected to the housing 11 and are located on the outside of the housing 11. The track 23 is sleeved on the drive wheel 21 and the driven wheel 22 and drives the drive wheel 21 and the driven wheel 22 in linkage. Track 23 rotates in a ring shape as drive wheel 21 rotates and can walk on the surface of photovoltaic module; support frame 24 is located inside track 23 and connected to housing 11; tension wheel module 25 is connected to support frame 24, tension wheel module 25 moves elastically relative to support frame 24 and applies elastic force to track 23 to elastically tension track 23, ensuring elastic tension effect of track 23, improving the walking stability of track walking device 100, and reducing walking noise of track walking device 100.

[0055] Please refer to the attached document. Figures 1-5 In this embodiment of the application, the robot body 10 is provided with a box 11, and the box 11 is provided with a receiving cavity 11a.

[0056] The track assembly 20 is disposed on the outside of the housing 11. The track assembly 20 includes a drive wheel 21, a driven wheel 22, a track 23, a support frame 24, and at least one tensioning wheel module 25. The drive wheel 21 and the driven wheel 22 are rotatably connected to the housing 11 and are located on the outside of the housing 11 to facilitate adjustment of the positions of the drive wheel 21 and the driven wheel 22 relative to the housing 11. The track 23 is sleeved on the drive wheel 21 and the driven wheel 22 and is linked to the drive wheel 21 and the driven wheel 22. The track 23 rotates in a ring as the drive wheel 21 rotates and can walk on the surface of the photovoltaic module to achieve the walking effect of the tracked walking device 100.

[0057] The support frame 24 is located inside the track 23 and connected to the housing 11; the tension wheel module 25 is connected to the support frame 24. The tension wheel module 25 moves elastically relative to the support frame 24 and applies an elastic force to the track 23 to elastically tension the track 23, ensuring the elastic tension effect of the track 23, improving the walking stability of the track walking device 100, and reducing the walking noise of the track walking device 100.

[0058] Please refer to the attached document. Figures 1-4In this embodiment, there are multiple tension wheel modules 25, which are arranged along the length of the support frame 24 and act on different positions of the track 23. By arranging multiple tension wheel modules 25, the elastic damping effect of the track 23 is increased, ensuring elastic damping at different positions of the track 23. Optionally, there are two tension wheel modules 25.

[0059] Please refer to the attached document. Figures 1-4 In this embodiment, the tensioning wheel module 25 includes a first connecting frame 251 and a plurality of tensioning wheels 252. The first connecting frame 251 is movably connected to the support frame 24 to adjust its position relative to the support frame 24. The plurality of tensioning wheels 252 are rotatably connected to the first connecting frame 251 and are positioned at different locations on the first connecting frame 251 to allow for different arrangements of the plurality of tensioning wheels relative to the track 23. The plurality of tensioning wheels 252 continuously contact the track 23 as the first connecting frame 251 moves relative to the support frame 24, thereby providing shock absorption at different positions on the track 23. When the track 23 bounces significantly during movement, the plurality of tensioning wheels 252 abut against the bouncing force of the track 23 to reduce the amplitude of the bounce, thus achieving shock absorption and tensioning of the track 23.

[0060] Please refer to the attached document. Figures 1-4 In this embodiment, the first connecting frame 251 is provided with a first connecting part 2511, a first supporting part 2512 and a plurality of first rotating parts 2513; the first supporting part 2512 is located at one end of the first connecting frame 251 and is located between the plurality of first rotating parts 2513; the first connecting part 2511 is rotatably connected to the support frame 24; so that the first connecting frame 251 can move relative to the support frame 24 through the first connecting part 2511.

[0061] The first support portion 2512 is disposed on one side of the first connecting portion 2511 and is elastically movable relative to the support frame 24; there is an elastic force between the first support portion 2512 and the support frame 24; so that the first connecting frame 251 can achieve elastic movement through the cooperation of the first support portion 2512 and the support frame 24, thereby facilitating the elastic movement of the first rotating portion 2513 with the elastic movement of the first support portion 2512.

[0062] Multiple tensioning rollers 252 are rotatably connected to corresponding first rotating parts 2513. The multiple first rotating parts 2513 are arranged on both sides of the first connecting part 2511 to facilitate the adjustment of the position of the multiple tensioning rollers 252 relative to the corresponding first rotating parts 2513. This allows the multiple tensioning rollers 252 to move elastically with the elastic movement of the first rotating parts 2513, so as to realize the multiple tensioning rollers 252 to dampen the track 23 at different positions.

[0063] Please refer to the attached document. Figures 1-4 In this embodiment, the support frame 24 is connected to a first connecting shaft 241; the first support portion 2512 is connected to a second connecting shaft 25121, and a first elastic module 26 is provided between the second connecting shaft 25121 and the first connecting shaft 241. The first elastic module 26 is connected to the first connecting shaft 241 and applies an elastic force to the second connecting shaft 25121, so that the second connecting shaft 25121 can move elastically relative to the first connecting shaft 241. The second connecting shaft 25121 compresses or releases the first elastic module 26 as the first connecting frame 251 moves relative to the support frame 24, so that the elastic force of the first elastic module 26 is transmitted to the first connecting frame 251 via the second connecting shaft 25121, thereby realizing the elastic movement of the first connecting frame 251 relative to the support frame 24.

[0064] Please refer to the attached document. Figures 1-4 In this embodiment of the application, the first elastic module 26 includes a first connecting sleeve 261 and a first elastic element 262; the first connecting sleeve 261 is rotatably connected to the first connecting shaft 241 and can rotate along the axis of the first connecting shaft 241; so as to adjust the position of the first connecting sleeve 261 relative to the first connecting shaft 241, thereby facilitating the connection of the first elastic module 26 to the first connecting shaft 241 through the first connecting sleeve 261.

[0065] The second connecting shaft 25121 is movably inserted through the first connecting sleeve 261 to facilitate adjustment of the position of the second connecting shaft 25121 relative to the first connecting sleeve 261. The first elastic member 262 is sleeved on the first connecting sleeve 261, and the two ends of the first elastic member 262 elastically contact the peripheral sidewall of the second connecting shaft 25121 and the sidewall of the first connecting sleeve 261, respectively, so that the first elastic member 262 can apply an elastic force to the second connecting shaft 25121.

[0066] The first connecting sleeve 261 is provided with a first elongated hole 261a, which extends along the length of the first connecting sleeve 261. The second connecting shaft 25121 is inserted into the first elongated hole 261a and can move within the first elongated hole 261a, so that the second connecting shaft 25121 can move relative to the first connecting sleeve 261 through the space of the first elongated hole 261a, thus ensuring the range of motion of the second connecting shaft 25121 relative to the first connecting sleeve 261.

[0067] Please refer to the attached document. Figures 1-4In this embodiment, the track 23 is arranged in a ring shape and has a curved portion 231 located at the bottom corner of the track 23. Multiple tension wheels 252 are close to the curved portion 231, and the first gear portion of the multiple tension wheels 252 meshes with the internal teeth of the track 23 and is in a continuous meshing state, so that the multiple tension wheels 252 can elastically dampen the curved portion 231, ensuring the tightness of the track 23 and preventing the track 23 from loosening and disengaging from the drive wheel 21 and the driven wheel 22.

[0068] Please refer to the attached document. Figures 1-3 5. In this embodiment of the application, the track assembly 20 further includes multiple shock-absorbing wheel modules 27. The multiple shock-absorbing wheel modules 27 are all connected to the same support frame 24 and are arranged sequentially along the length of the support frame 24. By arranging multiple shock-absorbing wheel modules 27, the elastic shock absorption effect of the track 23 is increased, ensuring elastic shock absorption at different positions of the track 23. This allows multiple tension wheel modules 25 and multiple shock-absorbing wheel modules 27 to cooperate in providing elastic shock absorption at different positions of the track 23, thus ensuring the overall shock absorption effect of the track 23.

[0069] Each shock-absorbing wheel module 27 includes a second connecting frame 271 and a shock-absorbing wheel 272; the second connecting frame 271 is provided with a second connecting part 2711, a second supporting part 2712 and a second rotating part 2713; the second connecting part 2711 is located between the second supporting part 2712 and the second rotating part 2713, and the second connecting part 2711 is rotatably connected to the support frame 24; so that the second connecting frame 271 can move relative to the support frame 24 through the second connecting part 2711.

[0070] The second support portion 2712 is disposed on one side of the second connecting portion 2711 and is elastically movable relative to the support frame 24; there is an elastic force between the second support portion 2712 and the support frame 24; so that the second connecting frame 271 can achieve elastic movement through the cooperation of the second support portion 2712 and the support frame 24, thereby facilitating the elastic movement of the second rotating portion 2713 with the elastic movement of the second support portion 2712.

[0071] The shock-absorbing wheel 272 is rotatably connected to the corresponding second rotating part 2713 and engages with the bottom of the track 23, ensuring the tightness of the shock-absorbing wheel 272 relative to the bottom of the track 23 and preventing the track 23 from loosening and disengaging from the drive wheel 21 and the driven wheel 22.

[0072] Please refer to the attached document. Figures 1-35. In this embodiment of the application, the support frame 24 is connected to the third connecting shaft 242; the second support part 2712 is connected to the fourth connecting shaft 27121, and a second elastic module 28 is provided between the fourth connecting shaft 27121 and the third connecting shaft 242. The second elastic module 28 is connected to the third connecting shaft 242 and applies an elastic force to the fourth connecting shaft 27121 so that the fourth connecting shaft 27121 can move elastically relative to the third connecting shaft 242.

[0073] The fourth connecting shaft 27121 compresses or releases the second elastic module 28 as the second connecting frame 271 moves relative to the support frame 24; so that the elastic force of the second elastic module 28 can be transmitted to the second connecting frame 271 via the fourth connecting shaft 27121, thereby realizing the elastic movement of the second connecting frame 271 relative to the support frame 24.

[0074] The second elastic module 28 includes a second connecting sleeve 281 and a second elastic element 282; the second connecting sleeve 281 is rotatably connected to the third connecting shaft 242 and can rotate along the axis of the third connecting shaft 242; so as to adjust the position of the second connecting sleeve 281 relative to the third connecting shaft 242, thereby facilitating the connection of the second elastic module 28 to the third connecting shaft 242 through the second connecting sleeve 281.

[0075] The fourth connecting shaft 27121 is movably inserted through the second connecting sleeve 281 to adjust the position of the fourth connecting shaft 27121 relative to the second connecting sleeve 281. The second elastic member 282 is sleeved on the second connecting sleeve 281. The two ends of the second elastic member 282 elastically contact the peripheral sidewall of the fourth connecting shaft 27121 and the sidewall of the second connecting sleeve 281, respectively, so that the second elastic member 282 applies an elastic force to the fourth connecting shaft 27121.

[0076] The second connecting sleeve 281 is provided with a second elongated hole 281a, which extends along the length of the second connecting sleeve 281. The fourth connecting shaft 27121 is inserted into the second elongated hole 281a and can move within the second elongated hole 281a, so that the fourth connecting shaft 27121 can move relative to the second connecting sleeve 281 through the space of the second elongated hole 281a, thus ensuring the range of motion of the fourth connecting shaft 27121 relative to the second connecting sleeve 281.

[0077] Please refer to the attached document. Figures 1-3The tracked walking device 100 also includes a motor 30 and a gear transmission module 40. Both the motor 30 and the gear transmission module 40 are housed in the housing 11a. The fixed end of the motor 30 is connected to the housing 11, and the output end of the motor 30 is connected to the gear transmission module 40. The drive wheel 21 is connected to the gear transmission module 40 so that the power output by the motor 30 can be transmitted to the drive wheel 21 through the gear transmission module 40, thereby facilitating the rotation of the drive wheel 21.

[0078] There are two track assemblies 20, which are located on both sides of the housing 11 and drive the housing 11 to move, thus ensuring the walking stability of the tracked walking device 100.

[0079] In a second embodiment of the application, a photovoltaic cleaning robot includes a tracked walking device 100, which is part of the photovoltaic cleaning robot and is used to clean the surface of photovoltaic modules.

[0080] Compared with the prior art, the beneficial effects of this utility model are:

[0081] This utility model provides a tracked walking device 100 and a photovoltaic cleaning robot. The robot body 10 is provided with a housing 11, and the housing 11 is provided with a receiving cavity 11a. The track assembly 20 includes a drive wheel 21, a driven wheel 22, a track 23, a support frame 24, and at least one tensioning wheel module 25. The drive wheel 21 and the driven wheel 22 are rotatably connected to the housing 11 and are located on the outside of the housing 11. The track 23 is sleeved on the drive wheel 21 and the driven wheel 22 and is linked to the drive wheel 21 and the driven wheel 22. The track 23 moves with the drive wheel 21 and the driven wheel 22. The drive wheel 21 rotates in a ring and can travel on the surface of the photovoltaic module; the support frame 24 is located inside the track 23 and connected to the housing 11; the tension wheel module 25 is connected to the support frame 24, and the tension wheel module 25 moves elastically relative to the support frame 24 and applies an elastic force to the track 23 to elastically tension the track 23, ensuring the elastic tension effect of the track 23, improving the walking stability of the track walking device 100, and at the same time reducing the walking noise of the track walking device 100.

[0082] In the above embodiments, the descriptions of each embodiment have different focuses. For parts not described in detail in a certain embodiment, please refer to the relevant descriptions in other embodiments.

[0083] In the description of this application, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, features defined with "first" and "second" may explicitly or implicitly include one or more features.

[0084] This document uses specific examples to illustrate the principles and implementation methods of this application. The descriptions of the above embodiments are only for the purpose of helping to understand the methods and core ideas of this application. At the same time, for those skilled in the art, there will be changes in the specific implementation methods and application scope based on the ideas of this application. Therefore, the content of this specification should not be construed as a limitation of this application.

Claims

1. A tracked walking device, characterized in that, The tracked walking device is used in a photovoltaic cleaning robot; the tracked walking device includes: The robot body has a box-like structure, and the box-like structure has a receiving cavity; The track assembly includes a drive wheel, driven wheels, a track, a support frame, and at least one tensioning wheel module; the drive wheel and the plurality of driven wheels are rotatably connected to the housing and are located on the outside of the housing; the track is sleeved on the drive wheel and the driven wheels and is linked to the drive wheel and the driven wheels; the track rotates in a ring as the drive wheel rotates and is able to travel on the surface of the photovoltaic module; The support frame is located inside the track and connected to the housing; the tensioning wheel module is connected to the support frame, and the tensioning wheel module is elastically movable relative to the support frame, and applies an elastic force to the track to dynamically tension the track.

2. The tracked walking device according to claim 1, characterized in that, The tensioning wheel module is multiple, and the multiple tensioning wheel modules are arranged along the length direction of the support frame and act on different positions of the track.

3. The tracked walking device according to claim 1, characterized in that, The tensioning wheel module includes a first connecting frame and multiple tensioning wheels; The first connecting frame is movably connected to the support frame; Multiple tensioning rollers are rotatably connected to the first connecting frame and are located at different positions on the first connecting frame; the multiple tensioning rollers continuously contact the track as the first connecting frame moves relative to the support frame.

4. The tracked walking device according to claim 3, characterized in that, The first connecting frame is provided with a first connecting part, a first supporting part, and a plurality of first rotating parts; The first connecting part is rotatably connected to the support frame; The first support portion is disposed on one side of the first connecting portion and is elastically movable relative to the support frame; there is an elastic force between the first support portion and the support frame; Multiple tensioning wheels are rotatably connected to corresponding first rotating parts, and multiple first rotating parts are arranged on both sides of the first connecting part.

5. The tracked walking device according to claim 4, characterized in that, The support frame is connected to a first connecting shaft; The first support is connected to a second connecting shaft, and a first elastic module is provided between the second connecting shaft and the first connecting shaft. The first elastic module is connected to the first connecting shaft and applies an elastic force to the second connecting shaft. The second connecting shaft compresses or releases the first elastic module as the first connecting frame moves relative to the support frame.

6. The tracked walking device according to claim 5, characterized in that, The first elastic module includes a first connecting sleeve and a first elastic element; The first connecting sleeve is rotatably connected to the first connecting shaft and is capable of rotating along the axis of the first connecting shaft; The second connecting shaft is movably inserted through the first connecting sleeve, and the first elastic member is sleeved on the first connecting sleeve. The two ends of the first elastic member elastically contact the peripheral sidewall of the second connecting shaft and the sidewall of the first connecting sleeve, respectively. The first connecting sleeve is provided with a first elongated hole, which extends along the length of the first connecting sleeve; The second connecting shaft is inserted into the first elongated hole and can move within the first elongated hole.

7. The tracked walking device according to claim 4, characterized in that, The track is arranged in a ring, and the track has a curved section located at the bottom corner of the track. Multiple tensioning wheels are located near the curved portion, and the first gear portion of the multiple tensioning wheels engages with the internal teeth of the track and remains in a continuous engagement state.

8. The tracked walking device according to claim 1, characterized in that, The track assembly also includes multiple shock-absorbing wheel modules, all of which are connected to the same support frame and are arranged sequentially along the length of the support frame; Each of the aforementioned shock-absorbing wheel modules includes a second connecting frame and a shock-absorbing wheel; the second connecting frame is provided with a second connecting part, a second supporting part, and a second rotating part; The second connecting part is rotatably connected to the support frame; The second support portion is disposed on one side of the second connecting portion and is elastically movable relative to the support frame; there is an elastic force between the second support portion and the support frame; The shock-absorbing wheel is rotatably connected to the corresponding second rotating part and engages with the bottom of the track.

9. The tracked walking device according to claim 8, characterized in that, The support frame is connected to a third connecting shaft; The second support is connected to a fourth connecting shaft, and a second elastic module is provided between the fourth connecting shaft and the third connecting shaft. The second elastic module is connected to the third connecting shaft and applies an elastic force to the fourth connecting shaft. The fourth connecting shaft compresses or releases the second elastic module as the second connecting frame moves relative to the support frame; The second elastic module includes a second connecting sleeve and a second elastic element; The second connecting sleeve is rotatably connected to the third connecting shaft and is capable of rotating along the axis of the third connecting shaft; The fourth connecting shaft is movably inserted through the second connecting sleeve, and the second elastic element is sleeved on the second connecting sleeve. The two ends of the second elastic element elastically contact the peripheral sidewall of the fourth connecting shaft and the sidewall of the second connecting sleeve, respectively.

10. A photovoltaic cleaning robot, characterized in that, Includes the tracked walking device as described in any one of claims 1 to 9.

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