Torsional photovoltaic cleaning robot with adjustable operating posture

Abstract

The present invention relates to the field of photovoltaic cleaning apparatuses. Provided is a torsional photovoltaic cleaning robot with an adjustable operating posture. The torsional photovoltaic cleaning robot comprises an upper-end assembly and a lower-end assembly, wherein the upper-end assembly comprises a first traveling wheel group and a first electric motor for driving the first traveling wheel group to rotate; the lower-end assembly comprises a second traveling wheel group and a second electric motor for driving the second traveling wheel group to rotate; the first traveling wheel group and the second traveling wheel group travel on two ends of a frame of a photovoltaic panel, respectively; and a bristle brush roller is further rotationally provided between the upper-end assembly and the lower-end assembly, with one end of the bristle brush roller being connected to an operating end of the first electric motor. The torsional photovoltaic cleaning robot of the present invention can twist to adapt to a photovoltaic panel and a bridge bracket, which are relatively uneven, and can be adjusted in terms of operating posture.

Description

A torsion-type photovoltaic cleaning robot with adjustable running posture Technical Field

[0001] The present invention relates to the field of photovoltaic cleaning equipment, and in particular to a torsion-type photovoltaic cleaning robot with adjustable running posture. Background Art

[0002] In photovoltaic power stations, bridges are usually set up between different photovoltaic panels in the same row to create passage conditions for cleaning robots and save the number of cleaning robots used. However, there are angular deviations, horizontal deviations, and front-to-back errors between photovoltaic panels of different arrays. For example, in photovoltaic power stations using tracking brackets, different tracking brackets have different drives, and there will be front-to-back errors and horizontal deviations during the installation process. There is also a certain angle of torsion between the two ends of the tracking bracket and the drive. As a result, the connecting bridge between the two photovoltaic bracket arrays appears to be uphill at one end and downhill at the other end. When the cleaning robot passes through the bridge, it is more likely to get stuck or detach from the photovoltaic panel frame, seriously affecting the smooth implementation of the cleaning work.

[0003] Existing photovoltaic cleaning robots usually use a torque tube to connect the first main power wheel group of the upper component and the second main power wheel group of the lower component, and then use a motor to drive the torque tube to rotate for power transmission. When the cleaning robot encounters a bridge state with one end uphill and the other end downhill, the torque tube will produce a twist to keep the cleaning robot on track. However, the torque provided by the torque tube is limited and will pull the upper and lower components together. Therefore, it cannot adapt to bridges with large fluctuations. In addition, when power is transmitted through the torque tube, the rotational speeds of the first and second main power wheel groups will be synchronized. Therefore, the operating posture cannot be adjusted by adjusting the rotational speeds separately, and improvement is urgently needed.

[0004] Summary of the Invention

[0005] The problem solved by the present invention is how to provide a torsion-type photovoltaic cleaning robot with adjustable running posture, which can twist and adapt to photovoltaic panels and bridge frames with relatively large fluctuations and can adjust its running posture.

[0006] In order to solve the above problems, the present invention provides a torsion-type photovoltaic cleaning robot with adjustable running posture, comprising an upper end component and a lower end component, the upper end component comprising a first walking wheel group and a first motor that drives the first walking wheel group to rotate, the lower end component comprising a second walking wheel group and a second motor that drives the second walking wheel group to rotate, the first walking wheel group and the second walking wheel group respectively walk on the two ends of the photovoltaic panel frame, and a brush roller is also rotatably arranged between the upper end component and the lower end component, and one end of the brush roller is connected to the working end of the first motor.

[0007] Optionally, the upper end component also includes an upper end plate structure, the first walking wheel group includes a first main walking wheel group and a first auxiliary walking wheel group arranged at an angle on the upper end plate structure, the first main walking wheel group and the first auxiliary walking wheel group are respectively connected with a rotating shaft, and each of the rotating shafts rotates and passes through the upper end plate structure, the working end of the first motor passes through the upper end plate structure, and a gear structure is provided in the upper end plate structure, and the gear structure is sleeved on the working end of the first motor and each of the rotating shafts to engage and drive each of the rotating shafts to rotate.

[0008] Optionally, the gear structure includes a cylindrical gear set, which includes a driving gear sleeved on the working end of the first motor, and a driven gear sleeved on the rotating shaft of the first main power wheel set, and a plurality of interlocking gears are arranged between the driving gear and the driven gear to engage and rotate with each other.

[0009] Optionally, the gear structure also includes a first bevel gear set, which includes a main bevel gear sleeved on the rotating shaft of the first main power wheel set and a slave bevel gear arranged on the end of the rotating shaft of the first auxiliary power wheel set, and the main bevel gear and the slave bevel gear are engaged and rotated.

[0010] Optionally, the lower end component also includes a lower end plate, the second walking wheel group includes a second main walking wheel group and a second auxiliary walking wheel group arranged at an angle on the lower end plate, the second motor is arranged on one side of the lower end plate, and a rotating shaft is provided through the working end of the second motor, and a second bevel gear group is provided on both ends of the rotating shaft and on the rotating shaft of the second main walking wheel group to drive the second main walking wheel group to rotate.

[0011] Optionally, the rotating shaft includes a sleeve, and shaft cores are respectively inserted at both ends of the sleeve. The output end of the second motor is sleeved on the shaft core at one end to drive the shaft cores at both ends to rotate coaxially through the sleeve. Openings are opened on both ends of the sleeve to facilitate the insertion of connecting pins to connect each of the shaft cores.

[0012] Optionally, a control device is further included, which includes a gyroscope sensor and a control unit. The gyroscope sensor is arranged in the electrical control box of the lower end component, and the control unit controls the speed of the first motor and the second motor according to the information collected by the gyroscope sensor.

[0013] Optionally, the working end of the first motor passes through the upper end plate structure and is connected to the brush roller to drive the brush roller to rotate and clean the photovoltaic panel. The other end of the brush roller is rotatably arranged on the lower end plate through a universal joint.

[0014] Optionally, a mounting cover is further included, and the upper end plate structure and the lower end plate are semicircular structures, and the mounting cover is respectively installed along the arc-shaped edges of the upper end plate structure and the lower end plate for protection.

[0015] Optionally, a cover plate is further included, and a connecting shaft is connected between the upper end plate structure and the lower end plate. The connecting shaft is located above the brush roller, and the cover plate is fixed on the connecting shaft and is located between the connecting shaft and the brush roller.

[0016] Compared with the beneficial effects of the prior art, the cleaning robot in the present invention includes an upper component and a lower component, the upper component includes a first walking wheel group, and the lower component includes a second walking wheel group, the first walking wheel group and the second walking wheel group respectively walk on the two ends of the photovoltaic panel frame, the first walking wheel group and the second walking wheel group are respectively provided with a first motor and a second motor for independent driving, and no torque tube is provided for connection, so that they can be twisted to the maximum extent, and can walk on photovoltaic panels and bridges with relatively large fluctuations, and the two motors are driven separately so that the speeds of the first walking wheel group and the second walking wheel group can be adjusted separately. Since one end of the bridge is downhill and the other end is uphill, the cleaning robot at the downhill end will travel faster than the uphill end. When the cleaning robot walks to the position of the photovoltaic panel, it can adjust the speed of the first walking wheel group and the second walking wheel group respectively to adjust the running posture, correct the deviation in time, and prevent derailment. The brush roller is rotatably arranged between the upper component and the lower component, and one end is connected to the working end of the first motor, so that the brush roller can rotate to clean the photovoltaic panel. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] FIG1 is a schematic diagram of the operating state of a torsion-type photovoltaic cleaning robot with adjustable operating posture according to an embodiment of the present invention;

[0018] FIG2 is a schematic structural diagram of a torsion-type photovoltaic cleaning robot with adjustable operating posture according to an embodiment of the present invention;

[0019] FIG3 is a schematic structural diagram of an upper end assembly according to an embodiment of the present invention;

[0020] FIG4 is an exploded schematic diagram of a portion of the upper assembly according to an embodiment of the present invention;

[0021] FIG5 is a schematic structural diagram of the lower end assembly according to an embodiment of the present invention;

[0022] FIG6 is an exploded schematic diagram of a portion of the lower end assembly according to an embodiment of the present invention;

[0023] FIG7 is a schematic structural diagram of a rotating shaft in an embodiment of the present invention.

[0024] Markings shown in the accompanying drawings: 1-upper end assembly; 2-lower end assembly; 3-cover plate; 4-connecting shaft; 5-brush roller; 6-main shaft; 11-upper end plate structure; 12-first main travel wheel group; 13-first auxiliary travel wheel group; 14-main shaft; 15-mounting cover; 16-driving gear; 17-interlocking gear; 18-driven gear; 19-first bevel gear group; 120-first motor; 111-upper end plate; 112-mounting plate; 21-lower end plate; 22-second main travel wheel group; 23-second auxiliary travel wheel group; 24-second motor; 25-rotating shaft; 26-electric control box; 27-second bevel gear group; 251-sleeve; 252-shaft core; 253-opening. DETAILED DESCRIPTION

[0025] In order to make the above-mentioned objects, features and advantages of the present invention more obvious and easy to understand, specific embodiments of the present invention are described in detail below with reference to the accompanying drawings.

[0026] It should be noted that the terms "first," "second," and the like in the description and claims of the present invention and the accompanying drawings are used to distinguish similar objects and are not necessarily used to describe a specific order or precedence. It should be understood that the terms used in this manner are interchangeable where appropriate, such that the embodiments of the present invention described herein can be practiced in an order other than that illustrated or described herein.

[0027] In the description of the present invention, it should be noted that, unless otherwise expressly specified or limited, the terms "disposed," "installed," "connected," and "connected" should be understood broadly. For example, they may refer to fixed, detachable, or integral connections; mechanical connections; direct connections or indirect connections via an intermediate medium; and internal communication between two components. Those skilled in the art will understand the specific meanings of the above terms in the present invention based on specific circumstances.

[0028] Throughout this specification, references to the terms "embodiment," "one embodiment," and "an implementation" indicate that the specific features, structures, materials, or characteristics described in conjunction with that embodiment or implementation are included in at least one embodiment or implementation of the present invention. In this specification, schematic representations of these terms do not necessarily refer to the same embodiment or implementation. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or implementations.

[0029] The present invention will be described in detail below with reference to the accompanying drawings.

[0030] In order to solve the above technical problems, in combination with Figures 1, 2, 4 and 6, an embodiment of the present invention provides a torsion-type photovoltaic cleaning robot with adjustable running posture, including an upper component 1 and a lower component 2, the upper component 1 includes a first walking wheel group, and a first motor 120 for driving the first walking wheel group to rotate, the lower component 2 includes a second walking wheel group, and a second motor 24 for driving the second walking wheel group to rotate, the first walking wheel group and the second walking wheel group respectively walk on the two ends of the photovoltaic panel frame, and a brush roller 5 is also rotatably arranged between the upper component 1 and the lower component 2, and one end of the brush roller 5 is connected to the working end of the first motor 120.

[0031] It should be noted that the cleaning robot includes an upper component 1 and a lower component 2, the upper component 1 includes a first walking wheel group, the lower component 2 includes a second walking wheel group, the first walking wheel group and the second walking wheel group respectively walk on the two ends of the photovoltaic panel frame, the first walking wheel group and the second walking wheel group are respectively provided with a first motor 120 and a second motor 24 for independent driving, and no torque tube is provided for connection, so that maximum twisting can be performed, and the cleaning robot can walk on photovoltaic panels and bridges with relatively large fluctuations, and the two motors are driven separately. The rotational speeds of the first walking wheel group and the second walking wheel group can be adjusted separately. Since one end of the bridge is downhill and the other end is uphill, the cleaning robot at the downhill end will move faster than the uphill end. When the cleaning robot walks to the position of the photovoltaic panel, it can adjust the rotational speeds of the first walking wheel group and the second walking wheel group respectively to adjust the running posture, make corrections in time, and prevent derailment. The brush roller 5 is rotatably arranged between the upper component 1 and the lower component 2, and one end is connected to the working end of the first motor 120, so that the brush roller 5 can rotate to clean the photovoltaic panel.

[0032] An embodiment of the present invention also provides a photovoltaic sweeper. As shown in Figures 3 and 4, the upper end component 1 also includes an upper end plate structure 11, and the first walking wheel group includes a first main walking wheel group 12 and a first auxiliary walking wheel group 13 arranged at an angle on the upper end plate structure 11. The first main walking wheel group 12 and the first auxiliary walking wheel group 13 are respectively connected with a rotating shaft, and each of the rotating shafts rotates and passes through the upper end plate structure 11. The working end of the first motor 120 is arranged through the upper end plate structure 11, and a gear structure is provided in the upper end plate structure 11. The gear structure is sleeved on the working end of the first motor 120 and each of the rotating shafts to engage and drive each of the rotating shafts to rotate.

[0033] It should be noted that the upper end plate structure 11 includes a mounting plate 112, and an upper end plate 111 covering the mounting plate 112 on the side close to the brush roller 5. A accommodating cavity is formed between the mounting plate 112 and the upper end plate 111. The first walking wheel group includes a first main walking wheel group 12 arranged on the side of the upper end plate structure 11 close to the brush roller 5, and a first auxiliary walking wheel group 13 arranged on the bottom side of the upper end plate structure 11. The first main walking wheel group 12 and the first auxiliary walking wheel group 13 The first main walking wheel group 12 is arranged at an angle, and the first main walking wheel group 12 can walk on the upper surface of the photovoltaic panel frame, and the first auxiliary walking wheel group 13 can walk on the side of the photovoltaic panel frame. Preferably, the first main walking wheel group 12 and the second auxiliary walking wheel group 23 respectively include two walking wheels arranged at intervals, and the center of each walking wheel is connected to one end of the rotating shaft. The other end of the rotating shaft of the first main walking wheel group 12 passes through the upper end plate 111 and is rotatably arranged on the side of the mounting plate 112 through a bearing. A main shaft 146 is connected to the working end of the first motor 120, and the first motor 120 is arranged on the side of the mounting plate 112 away from the cleaning roller. The main shaft 146 passes through the mounting plate 112 and the upper end plate 111 in sequence. The upper end plate structure 11 is provided with one end of the rotating shaft of the first auxiliary walking wheel group 13, which rotates through the upper end plate 111 and is inserted into the accommodating cavity. The gear structure is provided in the accommodating cavity and is sleeved on the main shaft 146 and each of the rotating shafts, so that the first motor 120 can drive the first main walking wheel group 12 and the first auxiliary walking wheel group 13 to rotate synchronously. The synchronous rotation of the first auxiliary walking wheel group 13 can enhance the power of the upper end component 1, so that the upper end component 1 can better fit the frame of the photovoltaic panel for walking. The setting of the upper end plate structure 11 can accommodate each of the rotating shafts and the gear structure in the accommodating cavity, thereby protecting the connection and rotation of each of the rotating shafts and the gear structure, and preventing dust and rain from affecting normal operation.

[0034] An embodiment of the present invention also provides a photovoltaic sweeper. As shown in Figure 4, the gear structure includes a cylindrical gear set, which includes a driving gear 16 mounted on the working end of the first motor 120, and a driven gear 18 mounted on the rotating shaft of the first main power wheel group, and a plurality of linkage gears 17 are arranged between the driving gear 16 and the driven gear 18 to engage and rotate with each other.

[0035] It should be noted that the cylindrical gear set includes a driving gear 16 and two driven gears 18. The driving gear 16 is sleeved on the main shaft 146 and on the part of the rotating shaft 25 located in the accommodating cavity. The two driven gears 18 are respectively sleeved on the rotating shaft of the first main walking wheel group 12. A plurality of linkage gears 17 are meshed between the driving gear 16 and each of the driven gears 18. Each of the linkage gears 17 is also arranged on the side of the mounting plate 112 by rotating the rotating shaft, so that the first motor 120 can drive the first main walking wheel group 12 to rotate, thereby simplifying the driving structure.

[0036] An embodiment of the present invention also provides a photovoltaic sweeper. As shown in Figure 4, the gear structure also includes a first bevel gear set 19, which includes a main bevel gear sleeved on the rotating shaft of the first main power wheel set and a slave bevel gear arranged on the end head of the rotating shaft of the first auxiliary power wheel set. The main bevel gear and the slave bevel gear are engaged and rotated.

[0037] It should be noted that a main bevel gear is respectively provided on each rotating shaft of the first auxiliary power wheel group, and each of the slave bevel gears is respectively mounted on each rotating shaft of the first main power wheel group. The main bevel gear is set at a right angle to the adjacent slave bevel gear and rotates in meshing, thereby meeting the vertical setting of each running wheel of the first auxiliary power wheel group, and can also synchronously drive the first auxiliary power wheel group to rotate through the first motor 120, further simplifying the driving structure, and only one driving motor is needed to synchronously drive the first main running wheel group 12 and the first auxiliary running wheel group 13.

[0038] An embodiment of the present invention also provides a photovoltaic sweeper. As shown in Figures 5 and 6, the lower end component 2 also includes a lower end plate 21, and the second walking wheel group includes a second main walking wheel group 22 and a second auxiliary walking wheel group 23 arranged at an angle on the lower end plate 21. The second motor 24 is arranged on one side of the lower end plate 21, and a rotating shaft 25 is provided through the working end of the second motor 24. Second bevel gear groups 27 are provided on both ends of the rotating shaft 25 and on the rotating shaft of the second main walking wheel group 22 to drive the second main walking wheel group 22 to rotate.

[0039] It should be noted that, similarly, preferably, the second walking wheel group includes a second main walking wheel group 22 arranged on the side of the lower end plate 21 close to the brush roller 5, and a second auxiliary walking wheel group 23 arranged on the bottom side of the lower end plate 21. The second main walking wheel group 22 and the second auxiliary walking wheel group 23 are arranged at an angle. The second main walking wheel group 22 can walk on the upper surface of the photovoltaic panel frame, and the second auxiliary walking wheel group 23 can walk on the side of the photovoltaic panel frame. Preferably, the second main walking wheel group 22 and the second auxiliary walking wheel group respectively include two walking wheels arranged at intervals. , second bevel gear sets 27 are provided on both ends of the rotating shaft 25 and the rotating shaft of the second main walking wheel set 22. The rotating shaft 25 is horizontally penetrated and arranged on the working end of the second motor 24, so that the second motor 24 can drive the rotating shaft 25 to rotate and drive the second main walking wheel set 22 to rotate. The second bevel gear sets 27 are also respectively provided with protective covers for protection. The walking wheels of the second auxiliary walking wheel set 23 are rotatably arranged on the side of the upper end plate structure 11 through the bracket so as to passively rotate with the second main walking wheel set 22.

[0040] An embodiment of the present invention also provides a photovoltaic sweeper. As shown in Figure 7, the rotating shaft 25 includes a sleeve 251, and shaft cores 252 are respectively inserted at both ends of the sleeve 251. The output end of the second motor 24 is sleeved on the shaft core 252 at one end to drive the shaft cores 252 at both ends to rotate coaxially through the sleeve 251. Openings 253 are provided on both ends of the sleeve 251 to facilitate the insertion of connecting pins to connect each of the shaft cores 252.

[0041] It should be noted that the rotating shaft 25 includes a sleeve 251 and a shaft core 252 respectively inserted on both ends of the sleeve 251. The output end of the second motor 24 is sleeved on the shaft core 252 at one end, so that power can be transmitted through the sleeve 251 to drive the second main power wheel group 22 located on the two shaft cores 252 to rotate and move. The sleeve 251 acts as a coupling, thereby simplifying the drive structure of the second motor 24.

[0042] An embodiment of the present invention also provides a photovoltaic sweeper, which, as shown in Figure 6, also includes a control device, which includes a gyroscope sensor and a control unit. The gyroscope sensor is arranged in the electrical control box of the lower end component 2, and the control unit controls the speed of the first motor 120 and the second motor 24 according to the information collected by the gyroscope sensor.

[0043] It should be noted that the gyroscope sensor is arranged in the electrical control box 26 of the lower component 2, so as to fuse the linear acceleration and angular velocity of the first main walking wheel group 12, the first auxiliary walking wheel group 13 and the second main walking wheel group 22 to obtain the technical characteristics of the roll angle, pitch angle and yaw angle, and transmit them to the control unit. The control unit plans and controls the rotation speed of the first motor 120 and the second motor 24 so that the travel speed of the upper component 1 and the lower component 2 remains parallel to the frame of the photovoltaic panel, thereby ensuring that the cleaning robot will not get stuck.

[0044] An embodiment of the present invention also provides a photovoltaic sweeper. As shown in Figure 2, the working end of the first motor 120 passes through the upper end plate structure 11 and is connected to the brush roller 5 to drive the brush roller 5 to rotate and clean the photovoltaic panel. The other end of the brush roller 5 is rotatably arranged on the lower end plate 21 through a universal joint.

[0045] It should be noted that the main shaft 146 of the first motor 120 passes through the upper end plate structure 11 and is connected to the brush roller 5, so that the first motor 120 can synchronously drive the brush roller 5 to rotate, and the other end of the brush roller 5 is arranged on the side of the lower end plate 21 through a universal joint rotation, so that the two ends of the brush roller 5 can be twisted relative to each other, reducing the interference of the brush roller 5 on the relative twisting of the upper end component 1 and the lower end component 2, so that when the upper end component 1 and the lower end component 2 are twisted relative to each other, the first motor 120 can still drive the brush roller 5 to rotate for cleaning.

[0046] An embodiment of the present invention also provides a photovoltaic sweeper, which, as shown in Figures 2, 3 and 5, also includes a mounting cover 15. The upper end plate structure 11 and the lower end plate 21 are semicircular structures, and the mounting cover 15 is respectively installed along the arc-shaped edges of the upper end plate structure 11 and the lower end plate 21 for protection.

[0047] It should be noted that there are two mounting covers 15, and the upper end plate structure 11 and the lower end plate 21 are semicircular structures. The mounting covers are respectively arranged along the arc edges of the upper end plate structure 11 and the lower end plate 21, so that the two side surfaces of the cleaning robot along the walking direction are both arc surfaces, so that the cleaning robot has a smaller windward surface during the cleaning process and the wind resistance is reduced. Heat dissipation holes can be provided on each mounting cover 15 at a relative position to the first motor 120 and the second motor 24 for heat dissipation.

[0048] An embodiment of the present invention also provides a photovoltaic sweeper, which, as shown in Figure 2, also includes a cover plate 3. A connecting shaft 4 is connected between the upper end plate structure 11 and the lower end plate 21. The connecting shaft 4 is located above the brush roller 5. The cover plate 3 is fixed on the connecting shaft 4 and is located between the connecting shaft 4 and the brush roller 5.

[0049] It should be noted that a connecting shaft 4 is also connected between the upper end plate structure 11 and the lower end plate 21. The two ends of the connecting shaft 4 can be respectively connected to the side walls of the upper end plate structure 11 and the lower end plate 21 through a universal joint or other twistable structure, so as not to affect the torsion between the upper end component 1 and the lower end component 2. The connecting shaft 4 is located above the brush roller 5 and also includes a cover plate 3. The cover plate 3 is located between the connecting shaft 4 and the brush roller 5. The cover plate 3 is installed on the arc-shaped connecting piece below the connecting shaft 4, and preferably, the cover plate 3 is an arc-shaped long plate with the front and rear ends bent downward, so as to be able to shield and protect the brush roller 5.

[0050] It should be noted that the above-mentioned technical features are further combined with each other to form various embodiments not listed above, which are all regarded as the scope of the present invention; and, for ordinary technicians in this field, they can make improvements or changes based on the above description, and all these improvements and changes should fall within the scope of protection of the claims attached to the present invention.

Claims

1. A torsion photovoltaic cleaning robot with adjustable running posture, characterized in that: The invention comprises an upper component (1) and a lower component (2), wherein the upper component (1) comprises a first running wheel group and a first motor (120) for driving the first running wheel group to rotate, and the lower component (2) comprises a second running wheel group and a second motor (24) for driving the second running wheel group to rotate, wherein the first running wheel group and the second running wheel group respectively run on two ends of a photovoltaic panel frame, and a brush roller (5) is rotatably arranged between the upper component (1) and the lower component (2), and one end of the brush roller (5) is connected to the working end of the first motor (120).

2. The torsion photovoltaic cleaning robot with adjustable running posture according to claim 1 is characterized in that: The upper end component (1) also includes an upper end plate structure (11), the first walking wheel group includes a first main walking wheel group (12) and a first auxiliary walking wheel group (13) which are arranged at an angle on the upper end plate structure (11), the first main walking wheel group (12) and the first auxiliary walking wheel group (13) are respectively connected with a rotating shaft, each of the rotating shafts is rotatably arranged in the upper end plate structure (11), the working end of the first motor (120) is arranged to pass through the upper end plate structure (11), and a gear structure is arranged in the upper end plate structure (11), and the gear structure is sleeved on the working end of the first motor (120) and each of the rotating shafts to mesh and drive each of the rotating shafts to rotate.

3. The torsion photovoltaic cleaning robot with adjustable running posture according to claim 2 is characterized in that: The gear structure comprises a cylindrical gear set, the cylindrical gear set comprises a driving gear (16) sleeved on the working end of the first motor (120), and a driven gear (18) sleeved on the rotating shaft of the first main power wheel set, and a plurality of interlocking gears (17) are arranged between the driving gear (16) and the driven gear (18) so as to mesh and rotate with each other.

4. The torsion photovoltaic cleaning robot with adjustable running posture according to claim 3 is characterized in that: The gear structure also includes a first bevel gear set (19), which includes a main bevel gear sleeved on the rotating shaft of the first main power wheel set and a slave bevel gear arranged on the end of the rotating shaft of the first auxiliary power wheel set, and the main bevel gear and the slave bevel gear are meshed and rotated.

5. The torsion photovoltaic cleaning robot with adjustable running posture according to claim 2 is characterized in that: The lower end assembly (2) further comprises a lower end plate (21), the second walking wheel group comprising a second main walking wheel group (22) and a second auxiliary walking wheel group (23) which are arranged at an angle on the lower end plate (21), the second motor (24) is arranged on one side of the lower end plate (21), a rotating shaft (25) is provided through the working end of the second motor (24), and a second bevel gear group (27) is provided on both ends of the rotating shaft (25) and on the rotating shaft of the second main walking wheel group (22) to drive the second main walking wheel group (22) to rotate.

6. The torsion photovoltaic cleaning robot with adjustable running posture according to claim 5 is characterized in that: The rotating shaft (25) comprises a shaft sleeve (251), and shaft cores (252) are respectively inserted at both ends of the shaft sleeve (251). The output end of the second motor (24) is sleeved on the shaft core (252) at one end, so as to drive the shaft cores (252) at both ends to rotate coaxially through the shaft sleeve (251). Openings (253) are provided on both ends of the shaft sleeve (251) so as to facilitate respectively passing connecting pins to connect the shaft cores (252).

7. The torsion photovoltaic cleaning robot with adjustable running posture according to claim 1 is characterized in that: The invention also comprises a control device, the control device comprising a gyro sensor and a control unit, the gyro sensor being arranged in an electric control box (26) of the lower end component (2), and the control unit controlling the rotation speed of the first motor (120) and the second motor (24) according to information collected by the gyro sensor.

8. The torsion photovoltaic cleaning robot with adjustable running posture according to claim 5 is characterized in that: The working end of the first motor (120) passes through the upper end plate structure (11) and is connected to the brush roller (5) to drive the brush roller (5) to rotate and clean the photovoltaic panel. The other end of the brush roller (5) is rotatably arranged on the lower end plate (21) via a universal joint.

9. The torsion photovoltaic cleaning robot with adjustable running posture according to claim 5, characterized in that: It also includes a mounting cover (15), the upper end plate structure (11) and the lower end plate (21) are semicircular structures, and the mounting cover (15) is respectively installed along the arc-shaped edges of the upper end plate structure (11) and the lower end plate (21) to provide protection.

10. The torsion photovoltaic cleaning robot with adjustable running posture according to claim 5, characterized in that: It also comprises a cover plate (3), a connecting shaft (4) is connected between the upper end plate structure (11) and the lower end plate (21), the connecting shaft (4) is located above the brush roller (5), and the cover plate (3) is fixed on the connecting shaft (4) and is located between the connecting shaft (4) and the brush roller (5).

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