WO2024164958A1 - Walking drive mechanism of photovoltaic array cleaning robot and photovoltaic array cleaning robot - Google Patents

Abstract

Provided are a walking drive mechanism of a photovoltaic array cleaning robot (20) and the photovoltaic array cleaning robot (20). The walking drive mechanism of the photovoltaic array cleaning robot (20) is configured to walk along an edge of a photovoltaic array (10) to drive the photovoltaic array cleaning robot (20) to move on the photovoltaic array (10). The walking drive mechanism comprises a top wheel assembly (2), a side wheel assembly (3), and a drive motor (4); a motion plane of the top wheel assembly (2) intersects with that of the side wheel assembly (3), wherein the walking drive mechanism further comprises a transmission assembly (5) configured to obtain power from the top wheel assembly (2) or the drive motor (4) and then change the transmission direction to drive the side wheel assembly (3) to move, so that the drive motor (4) can simultaneously drive the top wheel assembly (2) and the side wheel assembly (3) to move. The walking drive mechanism of the photovoltaic array cleaning robot and the photovoltaic array cleaning robot can enhance the obstacle-crossing ability of the photovoltaic array cleaning robot when dealing with jagged photovoltaic arrays.

Description

Walking drive mechanism of photovoltaic cleaning robot and photovoltaic cleaning robot Technical Field

The present application relates to the field of photovoltaic cleaning technology, and in particular to a walking drive mechanism of a photovoltaic cleaning robot and a photovoltaic cleaning robot.

Background Art

The photovoltaic cleaning robot is a device that can move on the photovoltaic array to clean the photovoltaic array. By cleaning the photovoltaic array regularly or according to certain conditions, the photovoltaic cleaning robot can effectively improve the power generation efficiency of the photovoltaic array and reduce the risk of damage to the internal circuit of the photovoltaic array due to dust and debris pollution.

A photovoltaic cleaning robot in the prior art includes a cleaning beam spanning a photovoltaic array and a driving mechanism arranged at both ends of the cleaning beam, the driving mechanism including a motor and a top wheel assembly driven by the motor, the top wheel assembly is supported at the edge of the top surface of the photovoltaic array, and the top wheel assembly can move at the edge of the top surface of the photovoltaic array under the drive of the motor to drive the cleaning strip on the cleaning beam to scrape and clean the photovoltaic array; at the same time, since photovoltaic arrays are usually arranged at an angle, in order to ensure the stability of the photovoltaic cleaning robot on the photovoltaic array and prevent the photovoltaic cleaning robot from slipping off the photovoltaic array, the driving mechanism in the prior art also includes side wheels, which are in contact with the side of the photovoltaic array. When the driving mechanism drives the top wheel assembly to move, the side wheels are in contact with the side and passively roll due to friction. However, in this technical solution, since the side wheels roll passively, their ability to cross obstacles is relatively poor. When the photovoltaic panels in the photovoltaic array are misaligned on the side, the side wheels are likely to collide with the photovoltaic panels, causing damage to the photovoltaic panels or the photovoltaic cleaning robot. Moreover, since their ability to cross obstacles is relatively poor, when the misalignment size is slightly larger, the photovoltaic cleaning robot will not be able to cross the misalignment, affecting the normal operation of the photovoltaic cleaning robot.

In view of this, it is necessary to propose a new technical solution to overcome the shortcomings of the prior art.

Summary of the invention

The present application provides a walking drive mechanism of a photovoltaic cleaning robot and a photovoltaic cleaning robot, which can improve the photovoltaic cleaning robot's ability to overcome obstacles when the photovoltaic array is misaligned on the side.

The present application is implemented through the following technical solutions: a walking drive mechanism of a photovoltaic cleaning robot, used for walking at the edge of a photovoltaic array to drive the photovoltaic cleaning robot to move on the photovoltaic array; the walking drive mechanism includes a top wheel assembly, a side wheel assembly and a drive motor, and the movement plane of the top wheel assembly is arranged to intersect with the movement plane of the side wheel assembly, wherein the walking drive mechanism also includes a transmission assembly, and the transmission assembly is arranged to obtain power from the top wheel assembly or the drive motor and change the transmission direction to drive the side wheel assembly to move, so that the drive motor can simultaneously drive the top wheel assembly and the side wheel assembly to move.

As a further improved technical solution of the present application, the transmission assembly includes an active bevel gear and a driven bevel gear that mesh with each other, the active bevel gear is fixedly connected to the top wheel assembly through a driving shaft, and the driven bevel gear is fixedly connected to the side wheel assembly through a driven shaft.

As a further improved technical solution of the present application, the top wheel assembly includes a driving sprocket, a driven sprocket and a top wheel track meshingly connected to the driving sprocket and the driven sprocket, the drive motor is connected to the driving sprocket, and the driving bevel gear is fixedly connected to the driven sprocket through a driving shaft.

As a further improved technical solution of the present application, the walking drive mechanism includes a mounting frame, the mounting frame includes intersecting vertical plates and horizontal plates, the vertical plates and the horizontal plates are connected to form an L shape, the top wheel assembly is installed on the outer side of the vertical plates, the side wheel assembly is installed on the lower side of the horizontal plate, and the drive motor and the transmission assembly are installed on the inner side of the vertical plates and the upper side of the horizontal plates.

As a further improved technical solution of the present application, the side wheel assembly includes two side sprockets and a side wheel track meshingly connected to the two side sprockets.

As a further improved technical solution of the present application, the driven bevel gear is fixedly connected to one of the two side sprockets via a driven shaft.

As a further improved technical solution of the present application, the top wheel track and the side wheel track both include a chain and a plurality of anti-slip rubber blocks arranged on the outer periphery of the chain.

As a further improved technical solution of the present application, the travel drive mechanism also includes an anti-flip baffle fixed to the mounting frame and extending to the bottom surface of the photovoltaic array.

The present application is also implemented through the following technical solution: a photovoltaic cleaning robot is placed on a photovoltaic array in an up and down tilted posture, wherein the photovoltaic cleaning robot includes a cleaning beam, an upper walking drive mechanism connected to the upper end of the cleaning beam, and a lower walking drive mechanism connected to the lower end of the cleaning beam, wherein the upper walking drive mechanism is the walking drive mechanism as described above.

As a further improved technical solution of the present application, the upper end of the cleaning beam is rotatably connected to the upper travel drive mechanism.

As a further improved technical solution of the present application, the walking drive mechanism includes a mounting frame for installing the top wheel assembly, the side wheel assembly and the driving motor, the mounting frame is provided with a through hole and connecting plates located on the upper and lower sides of the through hole and arranged opposite to each other, the cleaning beam passes through the through hole and is rotatably pivotally connected to the connecting plate through a connecting shaft.

As a further improved technical solution of the present application, the mounting frame includes intersecting vertical plates and horizontal plates, the vertical plates and horizontal plates are connected to form an L shape, a limiting baffle is connected to the mounting frame, the limiting baffle is arranged on the side of the top wheel assembly facing away from the vertical plate, a limiting hole is provided on the limiting baffle, the left and right sides of the limiting hole can abut against the cleaning beam to limit the rotation angle between the walking drive mechanism and the cleaning beam.

As a further improved technical solution of the present application, the lower mouth walking drive mechanism includes a lower mouth top wheel assembly and a lower mouth side wheel assembly, the lower mouth top wheel assembly is driven to move by a power component, and the lower mouth side wheel assembly is not driven by the power component.

The walking drive mechanism of the photovoltaic cleaning robot provided in the present application has a driving motor that drives the top wheel assembly and the side wheel assembly to move at the same time, so that the side wheel assembly is also powered and has better obstacle-crossing capability; at the same time, power is obtained through the transmission assembly and the transmission direction is changed to drive the side wheel assembly to move, and its structure is simple and the movement synchronization of the top wheel assembly and the side wheel assembly is good.

BRIEF DESCRIPTION OF THE DRAWINGS

In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings required for use in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative labor.

FIG1 is a partial schematic diagram of an embodiment of the photovoltaic cleaning robot of the present application when it is on a photovoltaic array.

FIG2 is a schematic cross-sectional view along line A-A in FIG1.

Fig. 3 is a schematic cross-sectional view along line B-B in Fig. 1 .

FIG. 4 is a three-dimensional assembly diagram of an embodiment of a walking drive mechanism of the photovoltaic cleaning robot of the present application.

FIG. 5 is a three-dimensional composite diagram from another perspective of an embodiment of the walking drive mechanism of the photovoltaic cleaning robot of the present application.

FIG. 6 is a perspective exploded view of an embodiment of a walking drive mechanism of the photovoltaic cleaning robot of the present application.

FIG. 7 is a partial enlarged view of the upper walking drive mechanism of the photovoltaic cleaning robot of the present application when it is on the photovoltaic array.

FIG8 is a partial enlarged view of the lower travel drive mechanism of the photovoltaic cleaning robot of the present application when it is on the photovoltaic array.

Description of reference numerals:

10-photovoltaic array; 20-photovoltaic cleaning robot; 1-mounting frame; 11-vertical plate; 12-horizontal plate; 13-anti-roll baffle; 141-connecting plate; 140-through hole; 142-connecting hole; 15-connecting shaft; 16-limit baffle; 160-limiting hole; 2-top wheel assembly; 21-driving sprocket; 22-driven sprocket; 23-top wheel track; 3-side wheel assembly; 31-side sprocket; 32-side wheel track; 4-driving motor; 5-transmission assembly; 51-driving bevel gear; 52-driven bevel gear; 53-driving shaft; 54-driven shaft; 6-cleaning beam; 8-upper travel drive mechanism; 9-lower travel drive mechanism; 91-power component; 92-lower top wheel assembly; 93-lower side wheel assembly.

DETAILED DESCRIPTION

In order to make the purpose, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the present application. Therefore, the following detailed description of the embodiments of the present application provided in the drawings is not intended to limit the scope of the application for which protection is sought, but merely represents the selected embodiments of the present application. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the present application.

In the description of the present application, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise" and the like indicating orientations or positional relationships are based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the present application.

In addition, it should be understood that although the terms first, second, third, etc. may be used in the present application to describe various information, these information should not be limited to these terms. These terms are only used to distinguish the same type of information from each other. For example, without departing from the scope of the present application, the first information may also be referred to as the second information, and similarly, the second information may also be referred to as the first information. Depending on the context, the word "if" as used herein may be interpreted as "at the time of" or "when" or "in response to determining".

The terms used in this application are only for the purpose of describing specific embodiments and are not intended to limit the application. The singular forms of "a", "said" and "the" used in this application and the appended claims are also intended to include plural forms, unless the context clearly indicates other meanings. In the description of this application, the meaning of "multiple" is two or more, unless otherwise clearly and specifically limited. It should also be understood that the term "and/or" used in this article refers to and includes any or all possible combinations of one or more associated listed items.

In this application, unless otherwise clearly specified and limited, the terms "installed", "connected", "connected", "fixed" and the like should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements. For ordinary technicians in this field, the specific meanings of the above terms in this application can be understood according to specific circumstances.

In the present application, unless otherwise clearly specified and limited, a first feature being "above" or "below" a second feature may include that the first and second features are in direct contact, or may include that the first and second features are not in direct contact but are in contact through another feature between them. Moreover, a first feature being "above", "above" and "above" a second feature includes that the first feature is directly above and obliquely above the second feature, or simply indicates that the first feature is higher in level than the second feature. A first feature being "below", "below" and "below" a second feature includes that the first feature is directly below and obliquely below the second feature, or simply indicates that the first feature is lower in level than the second feature.

The following is a detailed description of a walking drive mechanism of a photovoltaic cleaning robot of the present application in conjunction with the accompanying drawings. In the absence of conflict, the features of the following embodiments can be combined with each other.

Please refer to Figures 1 to 8, the present application provides a walking drive mechanism of a photovoltaic cleaning robot 20, which is used to walk at the edge of the photovoltaic array 10 to drive the photovoltaic cleaning robot 20 to move on the photovoltaic array 10 and clean the photovoltaic array 10. The walking drive mechanism includes a top wheel assembly 2, a side wheel assembly 3 and a drive motor 4. Among them, the movement plane of the top wheel assembly 2 is arranged to intersect with the movement plane of the side wheel assembly 3, and the drive motor 4 drives the top wheel assembly 2 and the side wheel assembly 3 to move at the same time. The walking drive mechanism also includes a transmission assembly 5, which is connected between the side wheel assembly 3 and the top wheel assembly 2, or between the side wheel assembly 3 and the drive motor 4, and the transmission assembly 5 is configured to obtain power from the top wheel assembly 2 or the drive motor 4 and change the transmission direction to drive the side wheel assembly 2 to move.

The walking drive mechanism of the photovoltaic cleaning robot provided in the present application, the driving motor 4 drives the top wheel assembly 2 and the side wheel assembly 3 to move at the same time, so that the side wheel assembly 3 is also powered and has a better obstacle-crossing ability; at the same time, power is obtained through the transmission assembly 5 and the transmission direction is changed to drive the side wheel assembly 3 to move. Its structure is simple and the movement synchronization of the top wheel assembly 2 and the side wheel assembly 3 is good.

Figures 1 to 3 show schematic diagrams of an embodiment of the photovoltaic cleaning robot 20 of the present application on the photovoltaic array 10. The photovoltaic cleaning robot 20 includes a walking drive mechanism and a cleaning beam 6 driven by the action drive assembly. The walking drive mechanism includes a mounting frame 1, a top wheel assembly 2, a side wheel assembly 3, a drive motor 4 and a transmission assembly 5. The walking drive mechanism is detachable relative to the cleaning beam 6 as a whole. When the walking drive mechanism is assembled with the cleaning beam 6 and placed on the photovoltaic array 10, the top wheel assembly 2 contacts the edge of the top surface of the photovoltaic array 10, and the side wheel assembly 3 contacts the side of the photovoltaic array 10. The motion plane of the top wheel assembly 2 is a plane perpendicular to the top surface of the photovoltaic array 10, and the motion plane of the side wheel assembly 3 is a plane perpendicular to the side of the photovoltaic array 10. Since the top wheel assembly 2 and the side wheel assembly 3 are both powered in the technical solution provided by the present application, the walking drive mechanism has a good obstacle crossing ability. For the situation where the photovoltaic array 10 is unevenly arranged and the side of the photovoltaic array 10 is misaligned, the photovoltaic cleaning robot 20 has a good passing ability.

Please refer to Figures 4 to 6. In a specific embodiment, the transmission assembly 5 includes an active bevel gear 51 and a driven bevel gear 52 that mesh with each other. The active bevel gear 51 is fixedly connected to the top wheel assembly 2 through a driving shaft 53, and the driven bevel gear 52 is fixedly connected to the side wheel assembly 3 through a driven shaft 54. In this way, the driving motor 4 drives the top wheel assembly 2 to move, and the top wheel assembly 2 drives the side wheel assembly 3 to move through the transmission assembly 5. In other embodiments, the transmission assembly 5 can also be arranged between the driving motor 4 and the side wheel assembly 3, so that the driving force of the driving motor 4 is transmitted to the top wheel assembly 2 on the one hand, and is directly transmitted to the side wheel assembly 3 through the transmission assembly 5 on the other hand to drive the side wheel assembly 3 to move, rather than transmitting power through the top wheel assembly 2. Among them, the bevel gear refers to a bevel-shaped gear, also known as a bevel gear, which can be used to change the transmission direction.

Please continue to refer to Figures 4 to 6. In this embodiment, the top wheel assembly 2 includes a driving sprocket 21, a driven sprocket 22, and a top wheel track 23 meshingly connected to the driving sprocket 21 and the driven sprocket 22. The driving motor 4 is connected to the driving sprocket 21, and the driving bevel gear 51 is fixedly connected to the driven sprocket 22 via a driving shaft 53. This structure allows the driving motor 4 and the transmission assembly 5 to be separately arranged on different sprockets of the top wheel assembly 2, making the arrangement of the components more balanced and reasonable, facilitating assembly, and also making the force more balanced.

In this embodiment, the walking drive mechanism includes a mounting frame 1, which is a metal part, such as a cast aluminum part, etc., which is used for installing a cleaning beam 6, a top wheel assembly 2, a side wheel assembly 3, a drive motor 4 and a transmission assembly 5. The mounting frame 1 includes an intersecting vertical plate 11 and a horizontal plate 12, wherein the vertical plate 11 and the horizontal plate 12 are connected to form an L shape, the top wheel assembly 2 is installed on the outside of the vertical plate 11, the side wheel assembly 3 is installed on the lower side of the horizontal plate 12, and the drive motor 4 and the transmission assembly 5 are installed on the inner side of the vertical plate 11 and the upper side of the horizontal plate 12. The drive motor 4 and the transmission assembly 5 are arranged at the above-mentioned position, and their gravity has a tendency to make the walking drive mechanism press downward on the photovoltaic array 10, so that the photovoltaic cleaning robot 20 is not easy to tip over, which can increase the stability of the photovoltaic cleaning robot 20. Further, the walking drive mechanism also includes an anti-flip baffle 13 fixed to the mounting frame 1 and extending to the bottom surface of the photovoltaic array 10 to further prevent the photovoltaic cleaning robot 20 from tipping over. During normal operation, the anti-flip baffle 13 does not contact the photovoltaic array 10 to avoid wear on the photovoltaic array 10 .

In this embodiment, the top wheel assembly 2 and the side wheel assembly 3 are both crawler-type. The side wheel assembly 3 includes two side sprockets 31 and a side wheel crawler 32 meshingly connected to the two side sprockets 31. One of the two side sprockets 31 is driven to rotate by the driven bevel gear 52 through the driven shaft 54, and the other is driven to rotate by the side wheel crawler 32. Furthermore, the top wheel crawler 23 and the side wheel crawler 32 both include a chain and a plurality of anti-skid rubber blocks arranged on the outer periphery of the chain. The anti-skid rubber blocks can increase the friction force and improve the walking ability of the crawler. In other embodiments, a synchronous belt can also be used instead of a crawler.

In some embodiments of the present application, the vertical plate 11 of the mounting frame 1 is provided with a through hole 140 and a connecting plate 141 located on the upper and lower sides of the through hole 140 and arranged opposite to each other. The cleaning beam 6 passes through the through hole 140 and is rotatably pivoted with the connecting plate 141 through the connecting shaft 15. Specifically, the connecting plate 141 is provided with a connecting hole 142 that passes through the upper and lower parts. The connecting shaft 15 passes through the connecting hole 142 and allows the cleaning beam 6 to rotate around the central axis of the connecting shaft 15 by a certain angle. Furthermore, the projections of the through hole 140 and the connecting plate 141 on the plane where the side wheel assembly 3 is located are located between the driving side sprocket 31 and the driven side sprocket 32; in this way, the force applied by the cleaning beam 6 on the mounting frame 1 is close to the midpoint of the side wheel assembly 3, so that the force is balanced and the stability is good during movement. A limit baffle 16 is connected to the mounting frame 1, and the limit baffle 16 is arranged on the side of the top wheel assembly 2 facing away from the vertical plate 11. A limit hole 160 is opened on the limit baffle 16 and is relatively connected to the through hole 140. The left and right sides of the limit hole 160 can abut against the cleaning beam 6 to limit the rotation angle between the walking drive mechanism and the cleaning beam 6.

Please refer to Figures 7 and 8 together. The present application also provides a photovoltaic cleaning robot 20, which is placed on the photovoltaic array 10 in an up-and-down tilted posture, wherein the photovoltaic cleaning robot 20 includes a cleaning beam 6, an upper walking drive mechanism 8 connected to the upper end of the cleaning beam 6, and a lower walking drive mechanism 9 connected to the lower end of the cleaning beam 6, wherein the upper walking drive mechanism 8 is a walking drive mechanism as described above. Further, the upper end of the cleaning beam 6 is rotatably connected to the upper walking drive mechanism 8, so that the upper walking drive mechanism 8 has a certain free turning ability when crossing obstacles, which can increase the obstacle crossing ability. In this embodiment, the structure of the lower walking drive mechanism 9 is different from the upper walking drive mechanism 8. In this embodiment, the lower walking drive mechanism 9 includes a lower top wheel assembly 92 and a lower side wheel assembly 93, and the lower top wheel assembly 92 is driven by a power component 91, and the lower side wheel assembly 93 is not driven by the power component 91. Since the lower side wheel assembly 93 of the lower travel drive mechanism 9 is usually not in contact with the side of the photovoltaic array 10 under normal use, or even if in contact, the contact force is small, the lower side wheel assembly 93 is mainly used to contact the side of the photovoltaic array 10 to limit the position when the cleaning beam 6 has a large deflection, rather than mainly serving as a driving force during movement. Therefore, in the present application, the lower side wheel assembly 93 is not driven by the power component 91, thereby simplifying the structure and reducing costs.

From the above description of the specific embodiments, it can be seen that the walking drive mechanism of the photovoltaic cleaning robot provided by the present application, the driving motor 4 simultaneously drives the top wheel assembly 2 and the side wheel assembly 3 to move, so that the side wheel assembly 3 is also powered and can have a better obstacle surmounting ability; at the same time, power is obtained through the transmission assembly 5 and the transmission direction is changed to drive the side wheel assembly 3 to move, its structure is simple and the movement synchronization of the top wheel assembly 2 and the side wheel assembly 3 is good.

The above is only a preferred embodiment of the present application and does not constitute any form of limitation to the present application. Although the present application has been disclosed as a preferred embodiment as above, it is not intended to limit the present application. Any technician familiar with the profession can make some changes or modify the technical contents disclosed above into equivalent embodiments with equivalent changes without departing from the scope of the technical solution of the present application. However, any simple modification, equivalent change and modification made to the above embodiments based on the technical essence of the present application without departing from the content of the technical solution of the present application still falls within the scope of the technical solution of the present application.

Claims (13)

A walking drive mechanism of a photovoltaic cleaning robot is used for walking at the edge of a photovoltaic array to drive the photovoltaic cleaning robot to move on the photovoltaic array; the walking drive mechanism includes a top wheel assembly, a side wheel assembly and a drive motor, and the movement plane of the top wheel assembly is arranged to intersect with the movement plane of the side wheel assembly. It is characterized in that the walking drive mechanism also includes a transmission assembly, and the transmission assembly is arranged to obtain power from the top wheel assembly or the drive motor and change the transmission direction to drive the side wheel assembly to move, so that the drive motor can simultaneously drive the top wheel assembly and the side wheel assembly to move. According to the walking drive mechanism of the photovoltaic cleaning robot according to claim 1, it is characterized in that the transmission assembly includes active bevel teeth and driven bevel teeth that mesh with each other, the active bevel teeth are fixedly connected to the top wheel assembly through a driving shaft, and the driven bevel teeth are fixedly connected to the side wheel assembly through a driven shaft. The walking drive mechanism of the photovoltaic cleaning robot according to claim 2 is characterized in that the top wheel assembly includes a driving sprocket, a driven sprocket and a top wheel track meshingly connected to the driving sprocket and the driven sprocket, the drive motor is connected to the driving sprocket, and the driving bevel gear is fixedly connected to the driven sprocket through a driving shaft. The walking drive mechanism of the photovoltaic cleaning robot according to claim 2 is characterized in that the walking drive mechanism includes a mounting frame, the mounting frame includes intersecting vertical plates and horizontal plates, the vertical plates and the horizontal plates are connected to form an L shape, the top wheel assembly is installed on the outer side of the vertical plates, the side wheel assembly is installed on the lower side of the horizontal plate, and the drive motor and the transmission assembly are installed on the inner side of the vertical plates and the upper side of the horizontal plates. The walking drive mechanism of the photovoltaic cleaning robot according to claim 4 is characterized in that the side wheel assembly includes two side sprocket wheels and a side wheel track meshingly connected to the two side sprocket wheels. The walking drive mechanism of the photovoltaic cleaning robot according to claim 5 is characterized in that the driven bevel gear is fixedly connected to one of the two side sprockets through a driven shaft. The walking drive mechanism of the photovoltaic cleaning robot according to claim 5 is characterized in that the side wheel track includes a chain and a plurality of anti-slip rubber blocks arranged on the outer periphery of the chain. The walking drive mechanism of the photovoltaic cleaning robot according to claim 4 is characterized in that the walking drive mechanism also includes an anti-flip baffle fixed to the mounting frame and extending to the bottom surface of the photovoltaic array. A photovoltaic cleaning robot is placed on a photovoltaic array in an up-and-down tilted posture, characterized in that the photovoltaic cleaning robot includes a cleaning beam, an upper walking drive mechanism connected to the upper end of the cleaning beam, and a lower walking drive mechanism connected to the lower end of the cleaning beam, wherein the upper walking drive mechanism is the walking drive mechanism as described in claim 1. The photovoltaic cleaning robot according to claim 9 is characterized in that the upper end of the cleaning beam is rotatably connected to the upper travel drive mechanism. The photovoltaic cleaning robot according to claim 10 is characterized in that the walking drive mechanism includes a mounting frame for installing the top wheel assembly, the side wheel assembly and the drive motor, the mounting frame includes intersecting vertical plates and horizontal plates, the vertical plates and the horizontal plates are connected to form an L shape, the vertical plates are provided with through holes and connecting plates located on the upper and lower sides of the through holes and arranged opposite to each other, the cleaning beam passes through the through hole and is rotatably pivotally connected to the connecting plate through a connecting shaft. The photovoltaic cleaning robot according to claim 11 is characterized in that a limit baffle is connected to the mounting frame, the limit baffle is arranged on the side of the top wheel assembly facing away from the vertical plate, a limit hole is provided on the limit baffle, and the left and right sides of the limit hole can abut against the cleaning beam to limit the rotation angle between the walking drive mechanism and the cleaning beam. The photovoltaic cleaning robot according to claim 9 is characterized in that the lower mouth walking drive mechanism includes a lower mouth top wheel assembly and a lower mouth side wheel assembly, the lower mouth top wheel assembly is driven to move by a power component, and the lower mouth side wheel assembly is not driven by the power component.