An intelligent photovoltaic cleaning robot capable of autonomous judgment

Abstract

The application discloses an intelligent photovoltaic cleaning robot capable of autonomous judgment, and belongs to the technical field of photovoltaic panel cleaning. The intelligent photovoltaic cleaning robot comprises a cleaning shell provided with a solar panel at the top, and a position adjusting mechanism arranged on the cleaning shell and used for controlling the overall length of the device. The intelligent photovoltaic cleaning robot can adjust the overall length of the device when the device meets photovoltaic panels of different lengths, thereby improving the adaptability and flexibility of the device in use, enhancing the practicality of the device, and making the device clean photovoltaic panels of multiple sizes. The intelligent photovoltaic cleaning robot can clean itself after cleaning the photovoltaic panel through the use of a self-cleaning mechanism, thereby ensuring the cleanliness of the internal cleaning rod, improving the cleaning effect of the photovoltaic panel, and connecting an external water pipe to ensure the cleanliness of the device after use, and not affecting the reuse of the device.

Description

TECHNICAL FIELD

[0001] The application belongs to the technical field of photovoltaic panel cleaning, and specifically relates to an intelligent photovoltaic cleaning robot capable of autonomous judgment. BACKGROUND

[0002] With the continuous exploitation and utilization of fossil energy, chemical energy is increasingly strained, and renewable energy, solar energy, is regarded as a substitute for traditional energy by all countries due to its pollution-free and resource-rich characteristics, and solar power generation systems are vigorously developed.

[0003] A photovoltaic cell panel is a core part of a solar power generation system, and directly converts solar energy into electric energy by relying on the photovoltaic effect, but the solar power generation system is affected by dust in the surrounding environment when it operates, which reduces the light transmittance of the solar panel and seriously affects the power generation efficiency.

[0004] At present, operation and maintenance personnel generally use manual observation to observe the degree of dust accumulation, and manually clean the photovoltaic panel, which is prone to over-cleaning or insufficient cleaning of the photovoltaic panel, and the manual cleaning efficiency is low due to the large number of photovoltaic panels and the large total area, therefore, the existing cleaning generally uses a cleaning robot to perform corresponding cleaning.

[0005] The existing cleaning robot is generally fixedly used, installed on the photovoltaic panel, rotated by walking wheels, and controlled to move to clean the dust on the photovoltaic panel, but the fixed cleaning robot is generally used to clean the corresponding photovoltaic panel, and is not flexible enough when encountering photovoltaic panels of different lengths, and cannot guarantee the cleaning of photovoltaic panels of different lengths, and the internal cleaning rod is difficult to clean itself when cleaning the photovoltaic panel, and there is a lot of dust on the cleaning rod after a long time of photovoltaic panel cleaning, which reduces the cleaning efficiency and cleanliness of the photovoltaic panel. SUMMARY

[0006] The purpose of the present application is to use the positioning mechanism to adjust the overall length of the device when encountering photovoltaic panels of different lengths, improve the adaptability and flexibility of the device during use, enhance the practicality of the device, and make it easy to operate, so that one device can clean photovoltaic panels of multiple sizes, use the self-cleaning mechanism to clean the device after cleaning the photovoltaic panel, ensure the cleanliness of the internal cleaning rod, improve the cleaning effect of the photovoltaic panel, and can be connected to a water pipe to ensure that it is clean after use and does not affect subsequent use.

[0007] The technical solution adopted by the present application is as follows:

[0008] An intelligent photovoltaic cleaning robot capable of autonomous judgment comprises:

[0009] The cleaning housing has a solar panel on top;

[0010] An adjustment mechanism, located on the cleaning shell, is used to control the overall length of the robot. The adjustment mechanism includes a force-bearing component, an adjustment cylinder, and a moving wheel block. Two adjustment cylinders are provided. The moving wheel block is installed on one side of the outer surface of the cleaning shell. The adjustment cylinder is located inside the cleaning shell, and its output end is fixedly connected to the moving wheel block. The force-bearing component is located on the cleaning shell and is connected to the moving wheel block.

[0011] A self-cleaning mechanism is located inside the cleaning housing for the robot's self-cleaning. The self-cleaning mechanism includes a drive component, a flow guiding component, nozzles, and a cleaning half-cylinder. The drive component is located inside the cleaning housing, the cleaning half-cylinder is rotatably connected to the cleaning housing, the flow guiding component is located inside the cleaning housing, and multiple nozzles are provided, all of which are located on the flow guiding component.

[0012] The force-bearing component includes force-bearing guide rods and force-bearing guide holes. Multiple force-bearing guide rods are provided, and the multiple force-bearing guide rods are fixedly connected to one side of the outer surface of the cleaning shell at equal intervals. Multiple force-bearing guide holes are provided, and the multiple force-bearing guide holes are opened at equal intervals on the moving wheel block. Each force-bearing guide rod is slidably connected to each force-bearing guide hole.

[0013] The drive component includes a steering motor, a control gear rod, and a linkage assembly. The control gear rods are rotatably connected to the inner walls of the cleaning housing on both sides. A drive cavity is fixedly connected to one side of the inner wall of the cleaning housing. The steering motor is fixedly connected to the drive cavity by bolts, and the output end of the steering motor is fixedly connected to one end of one of the control gear rods.

[0014] The linkage component is a driven half-tooth ring, which is fixedly connected to the two ends of the upper surface of the cleaning half-cylinder, and the driven half-tooth ring meshes with one end of the control gear rod.

[0015] The flow guiding component includes a cleaning pump and a conduit. A cleaning liquid chamber is fixedly connected to the other side of the inner wall of the cleaning housing. The cleaning pump is fixedly connected to the cleaning liquid chamber by bolts. The conduit is embedded in the top of the cleaning housing, and one end of the conduit is connected to the output end of the cleaning pump.

[0016] The cleaning housing has cleaning rods rotatably connected to the center of both sides of its inner wall, and a cleaning motor is fixedly connected to the lower inner wall of the drive cavity by bolts. The output end of the cleaning motor is fixedly connected to one end of the cleaning rod.

[0017] The outer surface of the cleaning housing is fixedly connected to a fixed wheel block, and multiple heat dissipation holes are provided on the outer surfaces of the fixed wheel block and the movable wheel block that are far apart from each other.

[0018] The system also includes multiple walking mechanisms, which are respectively located in fixed wheel blocks and movable wheel blocks for the robot's movement. Each walking mechanism includes a drive component, a side component, a shifting main wheel, and a shifting auxiliary wheel. The shifting main wheel is rotatably connected to both sides of the inner wall of the fixed wheel block and the movable wheel block near the bottom center. The shifting auxiliary wheels are rotatably connected to both sides of the inner wall of the fixed wheel block near the edge.

[0019] The driving component includes a walking roller motor, a driven gear, and a driving gear. The walking roller motor is fixedly connected to the fixed wheel block and the moving wheel block by bolts. The driving gear is fixedly connected to the output end of the walking roller motor. The driven gear is fixedly connected to one side of the outer surface of the shifting main wheel, and the driven gear and the driving gear mesh with each other.

[0020] The side component is a side guide wheel, and there are multiple side guide wheels. The multiple side guide wheels are equidistantly rotatably connected to the bottom of the fixed wheel block and the movable wheel block.

[0021] The cleaning rod has a dense arrangement of slender brushes on its outer circumference. Each slender brush includes a base, an active bending shaper, and a porous flexible wiping body, all connected in sequence. The base is fixed to the outer circumference of the cleaning rod. The active bending shaper includes a long, flat elastomer and piezoelectric ceramic sheets attached to its left and right sides. An external circuit applies opposite electric fields to the piezoelectric ceramic sheets on both sides simultaneously and switches the direction of the electric fields at a high frequency, causing one piezoelectric ceramic sheet to elongate and the other to shorten at the same time, thereby driving the active bending shaper to deflect left and right at a high frequency. A first through-hole is formed in the base, connecting to the inside of the cleaning rod. A second through-hole is formed in the elastomer, extending into the porous flexible wiping body. The first and second through-holes are connected. Cleaning water is introduced into the cleaning rod and flows through the first and second through-holes to the porous flexible wiping body.

[0022] In summary, due to the adoption of the above technical solution, the beneficial effects of the present invention are:

[0023] (1) In this invention, by using the adjustment mechanism, the overall length of the equipment can be adjusted accordingly when encountering photovoltaic panels of different lengths, thereby improving the adaptability and flexibility of the equipment during use. Furthermore, it enhances the practicality of the equipment, makes it easy to operate, and enables one device to clean photovoltaic panels of multiple sizes.

[0024] (2) In this invention, the self-cleaning mechanism enables the equipment to clean itself after cleaning the photovoltaic panel, ensuring the cleanliness of the internal cleaning rod and improving the cleaning effect of the photovoltaic panel. In addition, it can be connected to an external water pipe to ensure that it is clean after use and does not affect the subsequent use.

[0025] (3) In this invention, the cleaning rod is also equipped with a slender brush body. The slender brush body utilizes the inverse piezoelectric effect to achieve efficient, high-frequency, and controllable left and right deflection, thereby driving the porous flexible wiping body at the front end to achieve high-speed left and right wiping action. Combined with the rotation action of the cleaning rod itself, the slender brush body can simultaneously perform wiping action on the photovoltaic panel in two directions, so that each slender brush body can wipe a certain range of photovoltaic panels, greatly improving wiping efficiency. In addition, during the wiping process, cleaning water continuously immerses into the porous flexible wiping body through the first and second through holes in the middle of the cleaning rod, thereby ensuring the wiping effect. Special cleaning agents can also be mixed into the cleaning water to improve the cleaning effect on the photovoltaic panel. With this structural design, not only can the squeezing damage to the photovoltaic panel caused by problems such as installation accuracy be effectively avoided, but the cleaning range of the photovoltaic panel can also be taken into account. Moreover, the structure is simple, the control is convenient and precise, and the deflection amplitude and frequency of the slender brush body can be controlled by current alone, which is suitable for cleaning photovoltaic panels with different degrees of dirt. Attached Figure Description

[0026] Figure 1 This is a partial cross-sectional view of the present invention;

[0027] Figure 2 This is a perspective view of the present invention;

[0028] Figure 3 This is a perspective view of the flow guiding component of the present invention;

[0029] Figure 4 This is a perspective view of the self-cleaning mechanism of the present invention;

[0030] Figure 5 This is an exploded view of the self-cleaning mechanism of the present invention;

[0031] Figure 6 This is a partial sectional view of the walking mechanism of the present invention;

[0032] Figure 7 This is a schematic diagram of the structure of the slender brush body of the present invention.

[0033] The diagram shows the following components: 1. Cleaning housing; 2. Solar panel; 3. Fixed wheel block; 4. Walking roller motor; 5. Side guide wheel; 6. Cleaning pump; 7. Cleaning half-cylinder; 8. Nozzle; 9. Guide tube; 10. Cleaning rod; 101. Slender brush body; 102. Substrate; 103. Active bending deformation body; 104. Elastomer; 105. Piezoelectric ceramic sheet; 106. First through hole; 107. Second through hole; 108. Porous flexible wiping body; 11. Control gear rod; 12. Driven half-gear ring; 13. Steering motor; 14. Force guide rod; 15. Moving wheel block; 16. Heat dissipation hole; 17. Drive chamber; 18. Cleaning liquid chamber; 19. Force guide hole; 20. Cleaning motor; 21. Drive gear; 22. Driven gear; 23. Adjustment cylinder; 24. Shifting main wheel; 25. Shifting auxiliary wheel. Detailed Implementation

[0034] To make the objectives, technical solutions, and advantages of this invention clearer, the invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the invention.

[0035] Example 1, refer to Figures 1-7 A self-determining intelligent photovoltaic cleaning robot, comprising:

[0036] The cleaning housing 1 is equipped with a solar panel 2 on top;

[0037] An adjustment mechanism is provided on the cleaning housing 1 to control the overall length of the equipment. The adjustment mechanism includes a force-bearing component, an adjustment cylinder 23, and a moving wheel block 15. There are two adjustment cylinders 23. The moving wheel block 15 is installed on one side of the outer surface of the cleaning housing 1. Both adjustment cylinders 23 are located inside the cleaning housing 1, and the output ends of both adjustment cylinders 23 are fixedly connected to the moving wheel block 15. The force-bearing component is located on the cleaning housing 1 and is connected to the moving wheel block 15.

[0038] The self-cleaning mechanism is located inside the cleaning housing 1 and is used for self-cleaning of the equipment. The self-cleaning mechanism includes a driving component, a flow guiding component, a nozzle 8 and a cleaning half-cylinder 7. The driving component is located inside the cleaning housing 1, the cleaning half-cylinder 7 is rotatably connected to the cleaning housing 1, the flow guiding component is located inside the cleaning housing 1, and multiple nozzles 8 are provided, all of which are located on the flow guiding component.

[0039] In this implementation scheme: the solar panel 2 can provide power to the entire equipment, enabling it to be used for a long time. The extension and retraction of the adjusting cylinder 23 controls the distance between the moving wheel block 15 and the cleaning shell 1, adjusting the overall length of the equipment to accommodate photovoltaic panels of different sizes. At the same time, the model of the adjusting cylinder 23 can be selected from those available on the market as needed, which will not be elaborated here. The nozzles 8 are evenly arranged on the top of the cleaning half-cylinder 7, ensuring that it can be fully soaked during self-cleaning. When the equipment is in use, the cleaning half-cylinder 7 is rotated to the top to prevent dust from affecting the internal equipment during the cleaning process. During self-cleaning, it is rotated to the bottom to hold the cleaning components inside, allowing them to fully contact the cleaning liquid.

[0040] Specifically: The force-bearing components include force-bearing guide rods 14 and force-bearing guide holes 19. Multiple force-bearing guide rods 14 are provided, and multiple force-bearing guide rods 14 are fixedly connected to one side of the outer surface of the cleaning housing 1 at equal intervals. Multiple force-bearing guide holes 19 are provided, and multiple force-bearing guide holes 19 are opened at equal intervals on the moving wheel block 15. Each force-bearing guide rod 14 is slidably connected to each force-bearing guide hole 19.

[0041] In this embodiment, the force-bearing guide rod 14 and the force-bearing guide hole 19 are used together to support the moving wheel block 15, so that when the moving wheel block 15 is extended, its weight will not act on the adjusting cylinder 23, thereby reducing the service life of the adjusting cylinder 23 and ensuring safety during use.

[0042] Specifically: The drive component includes a steering motor 13, a control gear rod 11, and a linkage assembly. There are two control gear rods 11, which are rotatably connected to the two sides of the inner wall of the cleaning housing 1. A drive cavity 17 is fixedly connected to one side of the inner wall of the cleaning housing 1. The steering motor 13 is fixedly connected to the drive cavity 17 by bolts, and the output end of the steering motor 13 is fixedly connected to one end of one of the control gear rods 11.

[0043] In this embodiment, the model of the steering motor 13 can be selected from those available on the market as needed, which will not be elaborated here. The steering motor 13 controls one of the control gear rods 11 to rotate, thereby realizing power output. Furthermore, both ends of the two control gear rods 11 are equipped with gears, and one of the two control gear rods 11 is used to control the rotation of the cleaning half-drum 7, while the other ensures that the cleaning half-drum 7 rotates smoothly.

[0044] Specifically: the linkage component is a driven half-tooth ring 12, and there are two driven half-tooth rings 12. The two driven half-tooth rings 12 are fixedly connected to the two ends of the upper surface of the cleaning half-cylinder 7, and the two driven half-tooth rings 12 are respectively meshed with one end of the two control gear rods 11.

[0045] In this embodiment, a driven half-tooth ring 12 meshes with gears on the same side of two control gear rods 11, causing the two control gear rods 11 to output power and control the driven half-tooth ring 12 to rotate.

[0046] Specifically: the flow guiding component includes a cleaning pump 6 and a conduit 9. A cleaning liquid chamber 18 is fixedly connected to the other side of the inner wall of the cleaning housing 1. The cleaning pump 6 is fixedly connected to the cleaning liquid chamber 18 by bolts. The conduit 9 is embedded in the top of the cleaning housing 1, and one end of the conduit 9 is connected to the output end of the cleaning pump 6.

[0047] In this embodiment, the model of the cleaning pump 6 can be selected from those available on the market as needed, which will not be elaborated here. The cleaning pump 6 fills the cleaning fluid inside the cleaning fluid chamber 18 into the conduit 9. Multiple nozzles 8 are connected to the conduit 9 to ensure that the cleaning fluid is sprayed out.

[0048] Specifically: Cleaning rods 10 are rotatably connected to the center of both sides of the inner wall of the cleaning housing 1, and a cleaning motor 20 is fixedly connected to the lower inner wall of the drive cavity 17 by bolts. The output end of the cleaning motor 20 is fixedly connected to one end of the cleaning rod 10.

[0049] In this embodiment, the model of the cleaning motor 20 can be selected from those available on the market as needed, which will not be elaborated here. The cleaning motor 20 controls the rotation of the cleaning rod 10 to clean the photovoltaic panel.

[0050] Specifically: a fixed wheel block 3 is fixedly connected to one side of the outer surface of the cleaning housing 1, and multiple heat dissipation holes 16 are opened on the outer surfaces of the fixed wheel block 3 and the movable wheel block 15 that are far apart from each other.

[0051] In this embodiment, the fixed wheel block 3 corresponds to the movable wheel block 15 and is the same size to maintain the balance of both ends of the device. The heat dissipation hole 16 can dissipate the internal working temperature and ensure long-term use.

[0052] Specifically, it also includes a walking mechanism, which has two sets. The two sets of walking mechanisms are respectively located in the fixed wheel block 3 and the movable wheel block 15 for the movement of the equipment. Each set of walking mechanisms includes a drive component, a side component, a shifting main wheel 24 and a shifting auxiliary wheel 25. The shifting main wheel 24 is rotatably connected to both sides of the inner wall of the fixed wheel block 3 near the bottom center. There are two shifting auxiliary wheels 25, which are rotatably connected to both sides of the inner wall of the fixed wheel block 3 and the movable wheel block 15 near the edge.

[0053] In this embodiment, the two sets of walking mechanisms have the same structure and are installed in the fixed wheel block 3 and the movable wheel block 15 respectively. Moreover, the installation positions correspond to each other. Therefore, the text only describes the installation of one set of walking mechanisms in the fixed wheel block 3. The shifting main wheel 24 is the main walking component, and the two shifting auxiliary wheels 25 are installed on both sides of the shifting main wheel 24 to ensure the stability during the movement.

[0054] Specifically: The driving components include a walking roller motor 4, a driven gear 22 and a driving gear 21. The walking roller motor 4 is fixedly connected to the fixed wheel block 3 and the moving wheel block 15 by bolts. The driving gear 21 is fixedly connected to the output end of the walking roller motor 4. The driven gear 22 is fixedly connected to one side of the outer surface of the shifting main wheel 24, and the driven gear 22 and the driving gear 21 mesh with each other.

[0055] In this embodiment, the model of the walking roller motor 4 can be selected from those available on the market as needed, which will not be elaborated here. The walking roller motor 4 outputs power through the drive gear 21, and the driven gear 22 controls the rotation of the shifting main wheel 24 to achieve overall walking.

[0056] Specifically: the side component is a side guide wheel 5, and there are multiple side guide wheels 5. The multiple side guide wheels 5 are equidistantly rotatably connected to the bottom of the fixed wheel block 3 and the movable wheel block 15.

[0057] In this embodiment, the side guide wheel 5 contacts the side of the photovoltaic panel, which keeps the equipment stable during movement. Furthermore, due to the toughness of the side guide wheel 5, it will not damage the photovoltaic panel.

[0058] In this embodiment: slender brush bodies 101 are densely arranged on the outer circumference of the cleaning rod 10; the slender brush body 101 includes a base 102, an active bending deformation body 103, and a porous flexible wiping body 108, which are fixedly connected in sequence; the base 102 is fixed on the outer circumferential surface of the cleaning rod 10; the active bending deformation body 103 includes a long, flat elastic body 104 and piezoelectric ceramic sheets 105 attached to the left and right sides of the elastic body 104; an external circuit simultaneously applies opposite electric fields to the piezoelectric ceramic sheets 105 on both sides and switches them at a high frequency. The electric field direction causes one of the piezoelectric ceramic sheets 105 on both sides to lengthen and the other to shorten at the same time, thereby driving the active bending deformation form 103 to deflect left and right at high frequency. A first through hole 106 is formed on the substrate 102, connecting to the cleaning rod 10. A second through hole 107 is formed in the elastic body 104, extending into the porous flexible wiping body 108. The first through hole 106 and the second through hole 107 are connected. Cleaning water is introduced into the cleaning rod 10, and the cleaning water flows to the porous flexible wiping body 108 through the first through hole 106 and the second through hole 107. Among them, the elastic body 104 is an elastic resin material, and the porous flexible wiping body 108 is a sponge or silicone.

[0059] In use, the device is installed on the photovoltaic panel, with the walking mechanisms at both ends fitting snugly against the ends of the photovoltaic panel. The side guide wheels 5 contact the sides of the photovoltaic panel, and the shifting main wheel 24 and shifting auxiliary wheel 25 contact the edges of the upper surface of the photovoltaic panel. During use, both walking roller motors 4 output power through the drive gear 21, and the driven gear 22 controls the shifting main wheel 24 to rotate, achieving overall movement. During movement, the cleaning motor 20 controls the cleaning rod 10 to rotate, cleaning the photovoltaic panel. During cleaning, the robot controller control circuit applies opposite forces to the piezoelectric ceramic sheets 105 on both sides. An electric field causes one side of the piezoelectric ceramic sheet 105 to elongate along its length while the other side shortens, thereby controlling the active bending deformation form 103 to deflect to one side. This causes the porous flexible wiping body 108 to deflect accordingly. When the electric field direction is switched at a high frequency, the porous head-shaped wiping body 108 can repeatedly deflect left and right to wipe the photovoltaic panel. The rotation of the cleaning rod 10 also causes the porous head-shaped wiping body 108 to have a circumferential wiping action. Therefore, combined with the left and right deflection, the slender brush body 101 can wipe the photovoltaic panel within a certain range. During the wiping process, cleaning water passes through the middle of the cleaning rod 10, through the first through hole 106 and the second through hole. The through-hole 107 continuously immerses the porous flexible wiping body 108, thus ensuring the wiping effect. Special cleaning agents can be mixed into the cleaning water to improve the cleaning effect on the photovoltaic panels. When two adjacent photovoltaic panels have a length difference, the extension of the adjusting cylinder 23 controls the distance between the moving wheel block 15 and the cleaning housing 1, ensuring the conversion between photovoltaic panels of different lengths. When the length of adjacent photovoltaic panels returns to normal, the retraction of the adjusting cylinder 23 ensures usability. When cleaning reaches a certain time or the edge of a row, self-cleaning is performed. During self-cleaning, the two walking roller motors 4 stop rotating to maintain the stability of the equipment. The steering motor 13... One of the control gears 11 is rotated to output power to the driven half-gear ring 12, causing the cleaning half-cylinder 7 to rotate. Another control gear 11 controls the cleaning half-cylinder 7 to ensure smooth rotation. When the cleaning half-cylinder 7 rotates to the bottom and wraps around the cleaning rod 10, the cleaning pump 6 fills the cleaning fluid inside the cleaning fluid chamber 18 into the conduit 9, and sprays it into the cleaning half-cylinder 7 through multiple nozzles 8. At the same time, the cleaning motor 20 controls the cleaning rod 10 to rotate for self-cleaning. After cleaning is completed, the steering motor 13 rotates in the opposite direction, causing the cleaning half-cylinder 7 to rotate to the top for photovoltaic cleaning again.

[0060] The control method of this invention is to control the device by manually starting and stopping the switch. The wiring diagram of the power element and the supply of power are common knowledge in the field. Since this invention is mainly used to protect mechanical devices, the control method and wiring layout will not be explained in detail.

[0061] The above description is merely a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. A photovoltaic cleaning robot, characterized in that, The utility model provides a kind of robot for cleaning solar panel, including: The cleaning shell with solar panel on top; Positioning mechanism is arranged on the cleaning shell, to control the overall length of robot, wherein: the positioning mechanism includes force component, positioning cylinder and moving wheel block, the positioning cylinder is equipped with two, the moving wheel block is installed and is arranged on the one side of the outer surface of cleaning shell, the positioning cylinder is arranged in the cleaning shell, and the output end of positioning cylinder is fixedly connected to moving wheel block, the force component is arranged on the cleaning shell, and force component is connected to moving wheel block; Self-cleaning mechanism is arranged in the cleaning shell, to self-cleaning of robot, wherein: the self-cleaning mechanism includes driving component, flow guide component, spray head and cleaning half cylinder, the driving component is arranged in the cleaning shell, the cleaning half cylinder is rotatably connected in the cleaning shell, the flow guide component is arranged in the cleaning shell, the spray head is equipped with multiple, multiple spray heads are arranged on flow guide component; The driving component includes steering motor, control gear bar and linkage assembly, the control gear bar is rotatably connected at the edge of the inner wall of cleaning shell on both sides, the inner wall of cleaning shell is fixedly connected with driving cavity on one side, the steering motor is fixedly connected in driving cavity by bolt, and the output end of steering motor is fixedly connected to one end of one control gear bar; The cleaning rod is rotatably connected at the center of the inner wall of cleaning shell on both sides, the lower inner wall of driving cavity is fixedly connected with cleaning motor by bolt, and the output end of cleaning motor is fixedly connected to one end of cleaning rod; The outer circumference of the cleaning rod is densely provided with elongated brush body; The elongated brush body includes a base body, a main bending deformation body, and a porous flexible wiping body that are sequentially fixedly connected; The base body is fixed on the outer circumferential surface of the cleaning rod; The main bending deformation body includes a long strip-shaped elastic body and piezoelectric ceramic sheets attached to the left and right sides of the elastic body; An external circuit applies opposite electric fields to the two piezoelectric ceramic sheets and switches the direction of the electric field at a high frequency, causing one of the two piezoelectric ceramic sheets to elongate and the other to shorten at the same time, to drive the main bending deformation body to deflect left and right at a high frequency; The base body has a first through hole that communicates with the inside of the cleaning rod; The elastic body has a second through hole that extends into the porous flexible wiping body; The first through hole and the second through hole are in communication; Cleaning water is introduced into the cleaning rod, and the cleaning water flows to the porous flexible wiping body through the first through hole and the second through hole; The linkage assembly is a driven half-tooth ring, which is fixedly connected to the upper surface of the cleaning half-cylinder at both end edges, and the driven half-tooth ring is in meshing engagement with one end of the control gear bar.

2. A photovoltaic cleaning robot according to claim 1, characterized in that The force component includes force guide rod and force guide hole, the force guide rod is equipped with multiple, multiple force guide rods are fixedly connected on the one side of the outer surface of cleaning shell at equal intervals, the force guide hole is equipped with multiple, multiple force guide holes are opened on moving wheel block at equal intervals, each force guide rod is slidingly connected in each force guide hole.

3. A photovoltaic cleaning robot according to claim 1, characterized in that The flow guide component includes a cleaning pump and a conduit, the inner wall of the cleaning shell is fixedly connected with a cleaning liquid cavity on the other side, the cleaning pump is fixedly connected in the cleaning liquid cavity through bolts, and one end of the conduit is communicated with the output end of the cleaning pump.

4. The photovoltaic cleaning robot of claim 1, wherein, The outer surface of the cleaning shell is fixedly connected with a fixed wheel block on one side, and a plurality of heat dissipation holes are formed in the outer surface of the fixed wheel block and the moving wheel block away from each other.

5. A photovoltaic cleaning robot according to claim 4, wherein, It also includes a plurality of walking mechanisms, which are respectively arranged in the fixed wheel block and the moving wheel block for the walking of the robot, wherein each walking mechanism includes a driving component, a side component, a displacement main wheel and a displacement auxiliary wheel.

6. A photovoltaic cleaning robot according to claim 5, wherein, The driving component includes a walking roller motor, a driven gear and a driving gear, the walking roller motor is fixedly connected in the fixed wheel block and the moving wheel block through bolts, the driving gear is fixedly connected with the output end of the walking roller motor, the driven gear is fixedly connected with the outer surface of the displacement main wheel on one side, and the driven gear and the driving gear are engaged with each other; the side component is a side guide wheel, a plurality of side guide wheels are arranged, and the plurality of side guide wheels are equally spaced and rotatably connected to the bottom of the fixed wheel block and the moving wheel block.

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