Photovoltaic panel cleaning robot

Abstract

The photovoltaic panel cleaning robot comprises a supporting rod, a first walking mechanism, a second walking mechanism, a translation mechanism, a cleaning mechanism and a power supply control box, the supporting rod is formed by splicing a plurality of light hollow pipes, and the first walking mechanism is arranged at the top end of the supporting rod and can walk along a top frame of a photovoltaic panel; the second walking mechanism is arranged at the bottom end of the supporting rod and can walk along a bottom frame of the photovoltaic panel, the translation mechanism is installed on the supporting rod and can move in the axial direction of the supporting rod, the cleaning mechanism is fixed to the translation mechanism and used for cleaning the photovoltaic panel, and the power supply control box is arranged at the bottom of the supporting rod. According to the photovoltaic panel cleaning robot, the supporting rod is formed by splicing a plurality of light hollow pipes, on one hand, the overall weight of the robot can be greatly reduced, the robot can be carried and operated by a single person, disassembly and transportation are convenient, manpower and material resources are saved, on the other hand, the robot can be suitable for cleaning photovoltaic panels of different widths, and adaptability is high.

Description

Technical Field

[0001] The invention relates to the technical field of photovoltaic panel cleaning, and in particular to a photovoltaic panel cleaning robot. Background Art

[0002] The panels of photovoltaic modules need to be cleaned and kept clean regularly to ensure that the efficiency of photovoltaic modules in power generation meets the requirements. In the scenario where the photovoltaic modules are installed at an inclined angle, the existing cleaning equipment is heavy and bulky, and requires at least two people to carry it. Most photovoltaic power stations have strict requirements for the deployability of cleaning equipment. Industrial and commercial distributed photovoltaics are usually installed on the top of difficult-to-reach buildings, photovoltaics for fishery-photovoltaic complementary power stations are installed on water-surface columns, photovoltaics for agricultural-photovoltaic complementary power stations are installed in farmlands, photovoltaics for mountain areas are installed on rugged mountain slopes, and more extensive centralized power stations are usually installed in deserts and Gobi where vehicles are difficult to pass. In the above scenarios, multiple people are required to carry them to the work site, and bulky equipment is also required to be transported between each photovoltaic row. Its practicality is very low and the market acceptance is very limited. At present, the cleaning of photovoltaic modules with inclined installation angles is still mainly done by manual cleaning. Summary of the invention

[0003] In view of the technical problems existing in the background technology, the purpose of the present invention is to provide a photovoltaic panel cleaning robot which is lightweight and easy to carry and transport.

[0004] In order to achieve the above object, the technical solution adopted by the present invention is as follows:

[0005] A photovoltaic panel cleaning robot, comprising:

[0006] A support rod, wherein the support rod is formed by splicing together a number of sections of lightweight hollow tubes;

[0007] A first walking mechanism, which is arranged at the top of the support rod and can walk along the top frame of the photovoltaic panel;

[0008] A second walking mechanism is arranged at the bottom end of the support rod and can walk along the bottom frame of the photovoltaic panel;

[0009] A translation mechanism, mounted on the support rod and movable along the axial direction of the support rod;

[0010] A cleaning mechanism, fixed on the translation mechanism and used to clean the photovoltaic panel;

[0011] A power control box is arranged at the bottom of the support rod, and the first walking mechanism, the second walking mechanism, the translation mechanism and the cleaning mechanism are electrically connected to the power control box respectively.

[0012] Furthermore, for the convenience of connection, any two sections of lightweight hollow tubes are connected to each other by means of buckles. The lightweight hollow tubes include a hollow tube body and a splicing tube detachably mounted on one end of the hollow tube body, and the buckles are mounted on the splicing tube.

[0013] Furthermore, the first walking mechanism includes a pipe joint fixed at the end of the support rod, an industrial control box arranged above the pipe joint, a connecting pipe arranged below the pipe joint, a base fixed at the bottom of the connecting pipe, a first walking unit installed on the base and used for walking on the surface of the photovoltaic panel, a sled arranged on the side of the first walking unit and used for crossing obstacles, a second walking unit installed on the base and used for walking on the side of the top frame of the photovoltaic panel, and a driving motor connected to the second walking unit and used to drive it to walk. The driving motor is connected to the industrial control box, a splicable power cord is arranged inside the lightweight hollow tube, and the industrial control box is connected to the power control box through the splicable power cord. The first walking unit and the second walking unit are walking wheels or tracks.

[0014] Furthermore, the second walking mechanism includes a pipe clamp detachably fixed to the support rod, a control box arranged above the pipe clamp, a third walking unit installed below the pipe clamp and used for walking on the surface of the photovoltaic panel, and a servo motor connected to the third walking unit and used for driving the third walking unit to walk. The servo motor is connected to the control box, the control box is connected to the power control box, and the third walking unit is a walking wheel or a crawler.

[0015] Furthermore, the translation mechanism comprises:

[0016] Two groups of embracing components are respectively used to embrace the support rods. The embracing components include a support frame, two C-shaped anti-arc wheels rotatably installed inside the support frame and used to embrace the left and right sides of the support rods, and a clamping member fixed at the bottom of the support frame and used to be connected to the cleaning mechanism.

[0017] The moving assembly is respectively connected to the two groups of embracing assemblies and is used to drive the two groups of embracing assemblies to move axially with the support rod as the guide axis. The moving assembly includes a motor seat fixed on the top of one of the support frames, a stepper motor installed on the motor seat, a flexible transmission body arranged across the entire support rod, a driving wheel connected to the shaft end of the stepper motor and used to drive the flexible transmission body and then drive the translation mechanism to move, and a tensioning wheel arranged on the side of the driving wheel and used to tension the flexible transmission body. The flexible transmission body is a synchronous belt or a wire rope.

[0018] The electric control box is arranged between the two groups of embracing components. The bottoms of the two supporting frames are fixedly connected to the bottoms of the electric control box through connecting end plates respectively. The stepping motor is connected to the electric control box, and the electric control box is electrically connected to the power control box.

[0019] Furthermore, the cleaning mechanism includes a connecting piece fixed below the embracing assembly and two groups of brush cleaning assemblies connected to the connecting piece and symmetrically arranged on both sides of the support rod. The brush cleaning assembly includes a support tube fixedly connected to the connecting piece, two support wheels arranged on both sides of the bottom of the support tube, a cover body fixed above the support tube, two silicone wheels arranged on both sides of the bottom of the cover body, a visual locator arranged on the side of the cover body, a brush roller rotatably installed inside the cover body, and two DC motors arranged on both sides of the cover body and used to drive the brush roller. The connecting piece includes two hollow tubes fixedly connected to the two embracing pieces, respectively. The visual locator is a sensor and / or a visual camera, and the DC motor and the visual locator are respectively connected to the electric control box.

[0020] Preferably, in order to achieve water washing, the brush cleaning assembly further comprises a water pipe fixed on the upper side of the cover body away from the support rod, a plurality of first nozzles arranged in sequence along the length direction of the water pipe, and a plurality of wind shields arranged above the plurality of first nozzles. One of the support pipes is provided with a plurality of second nozzles on the side close to the support rod, and the water pipe and the plurality of second nozzles are respectively supplied with water through a retractable coil spring pipeline wound around the outer side of the support rod.

[0021] It also includes a water source component, which includes a water bag hook fixing plate fixed on the side of the second walking mechanism, a hook fixed at the bottom of the water bag hook fixing plate and used to hang a water bag or a water tank, and a water pump fixed on the side of the water bag hook fixing plate, and the water pump is connected to the power control box.

[0022] Furthermore, a water supply pipeline and a power supply pipeline are provided inside the retractable coil spring pipeline, one end of the water supply pipeline is connected to the water pump, and the other end is respectively connected to the water pipe and a plurality of second nozzles, and the electric control box is electrically connected to the power control box through the power supply pipeline.

[0023] Preferably, under the premise of ensuring the strength of the support rod, in order to further reduce the weight of the support rod, the lightweight hollow tube is made of carbon fiber.

[0024] The present invention has the following beneficial effects:

[0025] 1. The support rod is made of several sections of lightweight hollow tubes. On the one hand, it can greatly reduce the overall weight of the robot, so that one person can carry and operate it, which is convenient for disassembly and transportation. It has a high degree of automation. The operator only needs to add water, change batteries and change positions, which saves manpower and material resources. On the other hand, it can make the robot suitable for cleaning photovoltaic panels of different widths, with strong adaptability.

[0026] 2. By setting the first walking mechanism and the second walking mechanism, the robot of the present invention can be applied to both flat photovoltaic panels and inclined photovoltaic panels. The position of the second walking mechanism can be adjusted along the axial direction of the support rod. All photovoltaic panels with a length of no more than 5 meters in the vertical direction can be cleaned.

[0027] 3. The first walking mechanism is provided with a first walking unit and a second walking unit. The first walking unit is used to walk on the surface of the photovoltaic panel, and the second walking unit is used to walk on the side of the top frame of the photovoltaic panel, which greatly improves the walking stability of the robot. At the same time, by providing a sled board, the first walking mechanism can have a certain obstacle crossing function. When the robot needs to walk on an inclined photovoltaic panel, the second walking unit can adopt a crawler structure, which can increase the contact area with the panel frame, increase friction, and improve walking stability and reliability;

[0028] 4. By setting up a translation mechanism, the cleaning mechanism can move along the axial direction of the support rod driven by the translation mechanism, so as to realize layered cleaning of the photovoltaic panel, which greatly reduces the overall volume of the robot;

[0029] 5. The cleaning mechanism of the present invention can perform dry cleaning on the photovoltaic panel, and can also realize wet cleaning on the photovoltaic panel. The wet cleaning can achieve an immersion and wiping cleaning effect on the photovoltaic panel, so that the surface of the photovoltaic panel is not prone to accumulation and ineradicable dirt; the cleaning effect is further guaranteed by two sets of brushes; with the visual locator, it can actively track the arrangement direction of the photovoltaic array, determine the layer to be cleaned, and achieve an automatic cleaning effect; water and power supply are achieved through retractable coil spring pipelines, saving space and weight and simplifying the structure.

[0030] 6. The material of the lightweight hollow tube is carbon fiber. The support tube, water pipe, hollow tube body, etc. can also be made of carbon fiber. Under the premise of ensuring strength and elastic deformation, the overall weight of the robot can be greatly reduced, making the robot easier to carry and more applicable. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] Figure 1 It is a schematic diagram of the three-dimensional structure of the present invention;

[0032] Figure 2 It is a schematic diagram of the structure of a lightweight hollow tube;

[0033] Figure 3 is a schematic diagram of the three-dimensional structure of the first walking mechanism;

[0034] Figure 4 is a schematic diagram of the three-dimensional structure of the second walking mechanism;

[0035] Figure 5 is a schematic diagram of the three-dimensional structure of the translation mechanism;

[0036] Figure 6 It is a three-dimensional structural schematic diagram of the cleaning mechanism;

[0037] Figure 7 It is a schematic diagram of the three-dimensional structure of the cleaning mechanism from another angle.

[0038] Main component symbol description: 1. Support rod; 10. Lightweight hollow tube; 100. Buckle; 101. Hollow tube body; 102. Splicing tube; 2. First walking mechanism; 21. Pipe joint; 22. Industrial control box; 23. Connecting pipe; 24. Base; 25. First walking unit; 26. Sled; 27. Second walking unit; 28. Driving motor; 3. Second walking mechanism; 31. Pipe clamp; 32. Control box; 33. Third walking unit; 34. Servo motor; 4. Translation mechanism; 400. Connecting end plate; 41. Embracing assembly; 411. Support frame; 412. C-type anti-arc wheel; 413. Clamping piece; 42. Moving assembly; 421. Motor seat; 422, stepper motor; 423, flexible transmission body; 424, driving wheel; 425, tensioning wheel; 43, electric control box; 5, cleaning mechanism; 51, connecting piece; 510, hollow tube body; 52, brush cleaning assembly; 521, support tube; 522, support wheel; 523, cover body; 524, silicone wheel; 525, visual locator; 526, brush roller; 527, DC motor; 528, water pipe; 529, first nozzle; 5210, wind shield; 5211, second nozzle; 6, power control box; 7, water source assembly; 71, water bag hook fixing plate; 72, hook; 73, water pump; 8, retractable coil spring pipeline. DETAILED DESCRIPTION

[0039] The present invention will be further described below in conjunction with the accompanying drawings and specific implementation methods.

[0040] like Figure 1-7 As shown, the present invention discloses a photovoltaic panel cleaning robot, comprising a support rod 1, a first walking mechanism 2, a second walking mechanism 3, a translation mechanism 4, a cleaning mechanism 5 and a power control box 6. The power control box 6 is arranged at the bottom of the support rod 1, and the first walking mechanism 2, the second walking mechanism 3, the translation mechanism 4 and the cleaning mechanism 5 are electrically connected to the power control box 6 respectively.

[0041] The support rod 1 is formed by splicing a plurality of sections of lightweight hollow tubes 10, and the material of the lightweight hollow tubes 10 is carbon fiber. Any two sections of lightweight hollow tubes 10 are connected to each other through buckles 100, and the lightweight hollow tube 10 comprises a hollow tube body 101 and a splicing tube 102 detachably mounted on one end of the hollow tube body 101, and the buckle 100 is mounted on the splicing tube 102, and the diameter of the splicing tube 102 is smaller than that of the hollow tube body 101.

[0042] The first walking mechanism 2 is arranged at the top of the support rod 1 and can walk along the top frame of the photovoltaic panel. The first walking mechanism 2 includes a pipe joint 21 fixed to the end of the support rod 1, an industrial control box 22 arranged above the pipe joint 21, a connecting pipe 23 arranged below the pipe joint 21, a base 24 fixed to the bottom of the connecting pipe 23, a first walking unit 25 installed on the base 24 and used to walk on the surface of the photovoltaic panel, a sled 26 arranged on the side of the first walking unit 25 and used to achieve obstacle crossing, a second walking unit 27 installed on the base 24 and used to walk on the side of the top frame of the photovoltaic panel, and a driving motor 28 connected to the second walking unit 27 and used to drive it to walk. The driving motor 28 is connected to the industrial control box 22, and a splicable power cord (not shown in the figure) is provided inside the lightweight hollow tube 10, and the industrial control box 22 is connected to the power control box 6 through the splicable power cord. The first walking unit 25 and the second walking unit 27 are walking wheels or tracks.

[0043] The second walking mechanism 3 is arranged at the bottom end of the support rod 1 and can walk along the bottom frame of the photovoltaic panel. The position of the second walking mechanism 3 can be adjusted along the axial direction of the support rod 1. The second walking mechanism 3 includes a pipe clamp 31 detachably fixed to the support rod 1, a control box 32 arranged above the pipe clamp 31, a third walking unit 33 installed below the pipe clamp 31 and used to walk on the surface of the photovoltaic panel, and a servo motor 34 connected to the third walking unit 33 and used to drive it to walk. The servo motor 34 is connected to the control box 32, the control box 32 is connected to the power control box 6, and the third walking unit 33 is a walking wheel or a crawler.

[0044] The translation mechanism 4 is installed on the support rod 1 and can move along the axial direction of the support rod 1. The translation mechanism 4 includes two sets of embracing components 41, a moving component 42 and an electric control box 43. The two sets of embracing components 41 are used to embracing the support rod 1 respectively. The embracing components 41 include a support frame 411, two C-shaped anti-arc wheels 412 rotatably installed inside the support frame 411 and used to embracing the left and right sides of the support rod 1, and a clamping member 413 fixed at the bottom of the support frame 411 and used to connect with the cleaning mechanism 5. The moving components 42 are respectively connected to the two sets of embracing components 41, and are used to drive the two sets of embracing components 41 to move axially with the support rod 1 as the guide axis. The moving assembly 42 includes a motor seat 421 fixed on the top of one of the support frames 411, a stepper motor 422 mounted on the motor seat 421, a flexible transmission body 423 arranged across the entire support rod 1, a driving wheel 424 connected to the shaft end of the stepper motor 422 and used to drive the flexible transmission body 423 and thus drive the translation mechanism 4 to move, and a tensioning wheel 425 arranged on the side of the driving wheel 424 and used to tension the flexible transmission body 423, and the flexible transmission body 423 is a synchronous belt or a wire rope. The electric control box 43 is arranged between the two sets of embracing assemblies 41, the bottoms of the two support frames 411 are fixedly connected to the bottoms of the electric control box 43 through the connecting end plates 400, the stepper motor 422 is connected to the electric control box 43, and the electric control box 43 is electrically connected to the power control box 6.

[0045] The cleaning mechanism 5 includes a connecting member 51 fixed below the embracing assembly 41 and two groups of brush cleaning assemblies 52 connected to the connecting member 51 and symmetrically arranged on both sides of the support rod 1. The brush cleaning assembly 52 includes a support tube 521 fixedly connected to the connecting member 51, two support wheels 522 arranged on both sides of the bottom of the support tube 521, a cover body 523 fixed above the support tube 521, two silicone wheels 524 arranged on both sides of the bottom of the cover body 523, a visual locator 525 arranged on the side of the cover body 523, a brush roller 526 rotatably installed inside the cover body 523, and two DC motors 527 arranged on both sides of the cover body 523 and used to drive the brush roller 526. The material of the support tube 521 is preferably carbon fiber. The connecting member 51 includes two hollow tubes 510 fixedly connected to the two embracing members 413, respectively, and the material of the hollow tube 510 is preferably carbon fiber. The visual locator 525 is a sensor and / or a visual camera, and the DC motor 527 and the visual locator 525 are respectively connected to the electric control box 43.

[0046] Preferably, the brush cleaning assembly 52 further comprises a water pipe 528 fixed on the upper side of the cover body 523 away from the support rod 1, a plurality of first nozzles 529 arranged in sequence along the length direction of the water pipe 528, and a plurality of wind shields 5210 arranged above the plurality of first nozzles 529. The material of the water pipe 528 is preferably carbon fiber. The first nozzles 529 of the two groups of brush cleaning assemblies 52 are both oriented in the direction away from the support rod 1. One of the support pipes 521 is provided with a plurality of second nozzles 5211 on the side close to the support rod 1, and the water pipe 528 and the plurality of second nozzles 5211 are respectively supplied with water through a retractable coil spring pipeline 8 wound around the outer side of the support rod 1.

[0047] It also includes a water source assembly 7, which includes a water bag hook fixing plate 71 fixed on the side of the second walking mechanism 3, a hook 72 fixed at the bottom of the water bag hook fixing plate 71 and used to hang a water bag or a water tank, and a water pump 73 fixed on the side of the water bag hook fixing plate 71, and the water pump 73 is connected to the power control box 6. The retractable coil spring pipeline 8 is provided with a water supply pipeline and a power supply pipeline (not shown in the figure), one end of the water supply pipeline is connected to the water pump 73, and the other end is respectively connected to the water pipe 528 and a plurality of second nozzles 5211, and the electric control box 43 is electrically connected to the power control box 6 through the power supply pipeline.

[0048] The working principle of the present invention is as follows: the cleaning personnel carry the robot accessories to the photovoltaic panel to be cleaned and assemble them. The length of the support rod 1 is determined according to the specific width of the photovoltaic panel. When assembling the support rod 1, the power cord inside the lightweight hollow tube 10 is spliced ​​together, and the specific position of the second walking mechanism 3 is adjusted. After the assembly is completed, the water tank is filled with water and hung on the hook 72, and connected to the water pump 73 through a water pipe, or the water pump 73 is directly connected to an external water pipe. After setting the various parameters of the robot through a computer, the cleaning mechanism is moved to the zero position (the position of the top or bottom layer of the photovoltaic panel), and the robot starts to clean automatically. The first walking mechanism 2 and the second walking mechanism 3 drive the robot to move at a uniform speed along the lateral direction of the photovoltaic panel, and the first nozzle 529 is used to spray water to wet the surface of the photovoltaic panel. The DC motor 527 drives the brush roller 526 to rotate to clean the surface of the photovoltaic panel. After the front group of brush rollers 526 are cleaned, the second nozzle sprays water again, and the rear group of brush rollers 526 are cleaned again. The visual locator 525 is used for visual positioning. When the robot completes the first layer cleaning of the photovoltaic panel, the translation mechanism 4 drives the cleaning mechanism 5 to translate along the axial direction of the support rod 1 to the second layer cleaning position, and the robot moves in the opposite direction and repeats the above cleaning action until the cleaning of the entire photovoltaic panel is completed.

[0049] To solve the problem of practicality of outdoor photovoltaic cleaning equipment, the weight of the equipment needs to be greatly reduced to a level that a worker can easily carry. Therefore, the cleaning method needs to be changed from the original whole-piece cleaning to layered cleaning. By reducing the size of the equipment and implementing the cleaning strategy in steps, the weight of the equipment and the volume of the equipment can be greatly reduced. However, while making a new change in the cleaning operation method, it is necessary to face the fact that the structural strength of the new equipment is significantly different from that of the existing bulky equipment. When cleaning two layers of parallel photovoltaic modules, the new solution's equipment skeleton, which is made of multiple sections of lightweight rods, is 5 meters long. Both ends of the new solution need to be driven and walked along the frame of the photovoltaic module to complete the cleaning of the photovoltaic module at the same time. A 5-meter-long, elastically deformable long rod needs to walk a long distance in a straight line along the photovoltaic array under the drive of the two ends. It is necessary to use the most cutting-edge machine vision + depth recognition + semantic recognition to actively track the arrangement direction of the photovoltaic array and determine the layer where the cleaning device is located.

[0050] In order to solve the problem that most of the current photovoltaic cleaning at tilted angles does not use clean water, but only sweeps the dust. It is necessary to use an external water tank and a precisely designed water distribution solution to solve the problem of wet cleaning of photovoltaic modules with as little self-provided water as possible. Only by insisting on the immersion + wiping cleaning at a certain periodic interval can it be ensured that the photovoltaic modules will not accumulate and cannot be eradicated in the long-term outdoor operation scenario.

[0051] The robot of the present invention is light in overall weight, can be carried and operated by a single person, is convenient to disassemble and transport, has a high degree of automation, and the operator only needs to complete the actions of adding water, changing batteries and changing positions, thus saving manpower and material resources. The robot can be applied to the cleaning of photovoltaic panels of different widths, has strong adaptability, and can clean all photovoltaic panels with a length of no more than 5 meters in the vertical direction. By setting a translation mechanism, the photovoltaic panels can be cleaned in layers, which greatly reduces the overall volume of the robot. Water and electricity are supplied by retractable coil spring pipelines, which saves space and weight and simplifies the structure. The material of the lightweight hollow tube is carbon fiber, and the support tube, water pipe, hollow tube body, etc. are made of carbon fiber material. Under the premise of ensuring strength and elastic deformation, the overall weight of the robot can be greatly reduced, which is suitable for promotion and use.

[0052] Although the present invention has been specifically shown and described in conjunction with the preferred embodiments, it should be understood by those skilled in the art that various changes in form and details may be made to the present invention without departing from the spirit and scope of the invention as defined in the appended claims, all of which are within the scope of protection of the present invention.

Claims

1. A photovoltaic panel cleaning robot, characterized in that: include: A support rod, wherein the support rod is formed by splicing together a number of sections of lightweight hollow tubes; A first walking mechanism, which is arranged at the top of the support rod and can walk along the top frame of the photovoltaic panel; A second walking mechanism is arranged at the bottom end of the support rod and can walk along the bottom frame of the photovoltaic panel; A translation mechanism, mounted on the support rod and movable along the axial direction of the support rod; A cleaning mechanism, fixed on the translation mechanism and used to clean the photovoltaic panel; A power control box is arranged at the bottom of the support rod, and the first walking mechanism, the second walking mechanism, the translation mechanism and the cleaning mechanism are electrically connected to the power control box respectively.

2. A photovoltaic panel cleaning robot as claimed in claim 1, characterized in that: Any two sections of lightweight hollow tubes are connected to each other through buckles. The lightweight hollow tubes include a hollow tube body and a splicing tube detachably mounted on one end of the hollow tube body. The buckle is mounted on the splicing tube.

3. A photovoltaic panel cleaning robot as claimed in claim 1, characterized in that: The first walking mechanism includes a pipe joint fixed at the end of the support rod, an industrial control box arranged above the pipe joint, a connecting pipe arranged below the pipe joint, a base fixed at the bottom of the connecting pipe, a first walking unit installed on the base and used for walking on the surface of the photovoltaic panel, a sled arranged on the side of the first walking unit and used for traversing obstacles, a second walking unit installed on the base and used for walking on the side of the top frame of the photovoltaic panel, and a driving motor connected to the second walking unit and used to drive it to walk, the driving motor is connected to the industrial control box, a splicable power cord is provided inside the lightweight hollow tube, the industrial control box is connected to the power control box through the splicable power cord, and the first walking unit and the second walking unit are walking wheels or tracks.

4. A photovoltaic panel cleaning robot as claimed in claim 1, characterized in that: The second walking mechanism includes a pipe clamp detachably fixed to the support rod, a control box arranged above the pipe clamp, a third walking unit installed below the pipe clamp and used for walking on the surface of the photovoltaic panel, and a servo motor connected to the third walking unit and used to drive it to walk, the servo motor is connected to the control box, the control box is connected to the power control box, and the third walking unit is a walking wheel or a track.

5. A photovoltaic panel cleaning robot as claimed in claim 1, characterized in that: The translation mechanism comprises: Two sets of embracing assemblies, respectively used to embracing the support rod, the embracing assemblies comprising a support frame, two C-shaped anti-arc wheels rotatably mounted inside the support frame and used to embracing the left and right sides of the support rod, and a clamping member fixed at the bottom of the support frame and used to be connected to the cleaning mechanism; A moving assembly is respectively connected to the two sets of embracing assemblies and is used to drive the two sets of embracing assemblies to move axially with the support rod as the guide axis. The moving assembly includes a motor seat fixed on the top of one of the support frames, a stepper motor installed on the motor seat, a flexible transmission body arranged across the entire support rod, a driving wheel connected to the shaft end of the stepper motor and used to drive the flexible transmission body and then drive the translation mechanism to move, and a tensioning wheel arranged on the side of the driving wheel and used to tension the flexible transmission body. The flexible transmission body is a synchronous belt or a wire rope; The electric control box is arranged between the two groups of embracing components. The bottoms of the two supporting frames are fixedly connected to the bottoms of the electric control box through connecting end plates respectively. The stepping motor is connected to the electric control box, and the electric control box is electrically connected to the power control box.

6. A photovoltaic panel cleaning robot as claimed in claim 5, characterized in that: The cleaning mechanism includes a connecting piece fixed under the embracing assembly and two groups of brush cleaning assemblies connected to the connecting piece and symmetrically arranged on both sides of the support rod. The brush cleaning assembly includes a support tube fixedly connected to the connecting piece, two support wheels arranged on both sides of the bottom of the support tube, a cover body fixed above the support tube, two silicone wheels arranged on both sides of the bottom of the cover body, a visual locator arranged on the side of the cover body, a brush roller rotatably installed inside the cover body, and two DC motors arranged on both sides of the cover body and used to drive the brush roller. The connecting piece includes two hollow tubes fixedly connected to the two embracing pieces respectively. The visual locator is a sensor and / or a visual camera. The DC motor and the visual locator are respectively connected to the electric control box.

7. A photovoltaic panel cleaning robot as claimed in claim 6, characterized in that: The brush cleaning assembly also includes a water pipe fixed on the top of the cover body away from the support rod, a plurality of first nozzles arranged in sequence along the length direction of the water pipe, and a plurality of wind shields arranged above the first nozzles, wherein a support pipe is provided with a plurality of second nozzles on the side close to the support rod, and the water pipe and the plurality of second nozzles are respectively supplied with water through a retractable coil spring pipeline wrapped around the outside of the support rod.

8. A photovoltaic panel cleaning robot as claimed in claim 7, characterized in that: It also includes a water source component, which includes a water bag hook fixing plate fixed on the side of the second walking mechanism, a hook fixed at the bottom of the water bag hook fixing plate and used to hang a water bag or a water tank, and a water pump fixed on the side of the water bag hook fixing plate, and the water pump is connected to the power control box.

9. A photovoltaic panel cleaning robot as claimed in claim 8, characterized in that: A water supply pipeline and a power supply pipeline are arranged inside the retractable coil spring pipeline. One end of the water supply pipeline is connected to the water pump, and the other end is respectively connected to the water pipe and a plurality of second nozzles. The electric control box is electrically connected to the power control box through the power supply pipeline.

10. A photovoltaic panel cleaning robot according to any one of claims 1 to 9, characterized in that: The lightweight hollow tube is made of carbon fiber.

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