Photovoltaic panel cleaning robot

Abstract

The embodiment of the invention provides a photovoltaic panel cleaning robot which comprises a movable frame, a cleaning assembly and two supports, and the two supports are arranged in a spaced mode. The movable frame is arranged between the two supports, and the movable frame is rotatably connected with the two supports. The cleaning assembly is arranged between the two supports, the cleaning assembly is connected to the movable frame, the cleaning assembly is provided with at least two rolling brushes, and the rolling brushes are sequentially arranged in the walking direction of the photovoltaic panel cleaning robot. The movable frame is rotatably connected to the support, the movable frame can droop depending on gravity, the cleaning assembly and the photovoltaic panel are always kept in contact with a certain pressure, and vibration impact on the photovoltaic panel is reduced. When the support tends to incline, inclination force is transmitted to the cleaning assembly through the support and the movable frame and finally shared by the rolling brushes on the cleaning assembly, the inclination force of the support can be counteracted by counter-acting force borne by the cleaning assembly on the photovoltaic panel, and the support is prevented from inclining to a larger extent. And the photovoltaic panel cleaning robot can smoothly complete the cleaning task.

Description

Technical Field

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

[0002] During long-term use, a large amount of dust is easily deposited on the surface of photovoltaic panels, and the energy conversion capacity of the photovoltaic panels decreases. Therefore, the photovoltaic panels need to be cleaned regularly to improve their working efficiency.

[0003] At present, the methods used to clean photovoltaic panels are roughly divided into two types: manual cleaning and automated mechanical cleaning. Manual cleaning is time-consuming and labor-intensive and poses a safety hazard to personnel. Automated machinery usually includes engineering vehicles with water spray or brushes, rail-type photovoltaic cleaning machines, crawler-type tracked photovoltaic cleaning robots, and gantry-type photovoltaic cleaning robots. Engineering vehicles with water spray or brushes are suitable for ground-based centralized photovoltaic stations, and require a wider photovoltaic panel installation spacing for driving, which will affect the utilization rate of photovoltaic stations. Because the rail-type photovoltaic cleaning machine is installed on the photovoltaic panel, it can only clean photovoltaic panels in the same row for a certain distance, and because it is exposed to the outdoors for a long time, it is easily affected by outdoor temperature changes, etc., and is prone to aging and disability, and has a short lifespan. The crawler-type tracked photovoltaic cleaning robot walks on the photovoltaic panel to clean the photovoltaic, and there are restrictions on the installation angle of the photovoltaic panel. If the installation tilt angle exceeds 30°, it is generally not adaptable, and walking on the photovoltaic panel is slow, which cannot meet the cleaning requirements of large-scale photovoltaic stations. The gantry-type photovoltaic cleaning robot has high requirements for the flatness of the ground. When encountering potholes and undulations on the ground, it is easy to tip over, press on the photovoltaic panels, cause hidden cracks, and cause damage to the photovoltaic panels. Summary of the invention

[0004] The disclosed embodiment provides a photovoltaic panel cleaning robot to solve the problem in the prior art that the photovoltaic panel cleaning robot is prone to tipping over when walking on a bumpy road surface.

[0005] The present disclosure provides a photovoltaic panel cleaning robot, comprising:

[0006] Two brackets, the two brackets are arranged at intervals, and the brackets are provided with walking devices;

[0007] A movable frame, which is disposed between the two brackets and is rotatably connected to the two brackets respectively;

[0008] A cleaning component is arranged between the two brackets, the cleaning component is connected to the movable frame, and the cleaning component has at least two roller brushes, and each of the roller brushes is arranged in sequence along the walking direction of the photovoltaic panel cleaning robot.

[0009] Optionally, the movable frame includes a crossbeam and two vertical rods;

[0010] The two vertical rods are respectively connected to the cross beam, and the two vertical rods are arranged at intervals;

[0011] The cross beam or the vertical rod is rotatably connected to the bracket;

[0012] The cleaning components are respectively connected to the two vertical rods.

[0013] Optionally, both ends of the cleaning assembly can be respectively translated along corresponding vertical rods to adjust the inclination angle of the cleaning assembly.

[0014] Optionally, the cleaning assembly includes two end members and at least two roller brush holders;

[0015] The two end parts are movably arranged on the vertical rod respectively;

[0016] Both ends of each of the roller brush frames are respectively connected to the two end components;

[0017] Each of the roller brushes is respectively arranged on a corresponding roller brush frame.

[0018] Optionally, the roller brush rack includes a mounting rod and connecting rods arranged at both ends of the mounting rod;

[0019] The connecting rods at both ends are respectively connected to the corresponding end members;

[0020] The roller brush is arranged on the mounting rod.

[0021] Optionally, the movable frame includes a reinforcing beam, and the reinforcing beam is respectively connected to the two vertical rods.

[0022] Optionally, the crossbeam includes two beam bodies, and the two beam bodies are respectively connected to corresponding brackets;

[0023] The two vertical rods are respectively connected to the two beam bodies;

[0024] One of the two beam bodies can be slidably sleeved on the other, and the two beam bodies can move relatively to adjust the overlapping length of the two beam bodies.

[0025] Optionally, the cleaning assembly can be extended and retracted along the arrangement direction of the two brackets to adjust the extension length.

[0026] Optionally, the support comprises a column and two diagonal braces;

[0027] The opposite ends of the two diagonal braces are close to each other and are respectively connected to the upright posts;

[0028] The other ends of the two diagonal braces are separated, and the ends are connected with walking devices;

[0029] The movable frame is connected to the column.

[0030] Optionally, the diagonal brace includes a first diagonal brace segment and a second diagonal brace segment;

[0031] One of the first diagonal bracing section and the second diagonal bracing section can be slidably mounted on the other, and the two can move relative to each other to adjust the overlapping length of the two;

[0032] The first oblique support section is connected to the column, and one end of the second oblique support section away from the first oblique support section is connected to the walking device.

[0033] Optionally, the column includes a first column and a second column;

[0034] One of the first column and the second column can be slidably mounted on the other, and the two can move relative to each other to adjust the overlapping length of the two;

[0035] The movable frame is connected to the first column, and the diagonal support is connected to the second column.

[0036] Optionally, the walking device includes a vehicle body and wheels connected to the vehicle body;

[0037] The vehicle body is hinged to the diagonal support.

[0038] By adopting the above technical solution, the present disclosure has the following beneficial effects:

[0039] When the bracket tends to tilt, the tilting force is transmitted to the cleaning component through the bracket and the movable frame, and finally shared by the multiple roller brushes on the cleaning component. The reaction force exerted on the cleaning component on the photovoltaic panel can offset the tilting force of the bracket and prevent the bracket from tilting more significantly.

[0040] The technical solution of the present disclosure is further described in detail below through the accompanying drawings and embodiments. BRIEF DESCRIPTION OF THE DRAWINGS

[0041] The accompanying drawings are part of this application and are used to provide a further understanding of the present disclosure. The illustrative embodiments of the present disclosure and their descriptions are used to explain the present disclosure, but do not constitute an improper limitation of the present disclosure. Obviously, the drawings described below are only some embodiments, and for ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0042] The accompanying drawings, which constitute a part of the specification, illustrate embodiments of the present disclosure and, together with the description, serve to explain the principles of the present disclosure.

[0043] The present disclosure may be more clearly understood from the following detailed description with reference to the accompanying drawings, in which:

[0044] Figure 1A schematic diagram of the three-dimensional structure of a photovoltaic panel cleaning robot provided in an embodiment of the present disclosure is shown;

[0045] Figure 2 A state diagram showing a photovoltaic panel cleaning robot provided by an embodiment of the present disclosure walking on an undulating road surface;

[0046] Figure 3 A state diagram showing the photovoltaic panel cleaning robot provided in an embodiment of the present disclosure performing cleaning processing on a photovoltaic panel is shown.

[0047] In the figure, 1, bracket; 11, column; 111, first column; 112, second column; 12, diagonal brace; 121, first diagonal brace section; 122, second diagonal brace section; 13, walking device; 2, movable frame; 21, cross beam; 211, beam body; 22, vertical rod; 3, cleaning component; 31, reinforcing beam; 32, roller brush rack; 321, mounting rod; 322, connecting rod; 33, roller brush; a, photovoltaic panel.

[0048] It should be noted that these drawings and textual descriptions are not intended to limit the conceptual scope of the present invention in any way, but are intended to illustrate the concept of the present invention for those skilled in the art by referring to specific embodiments. DETAILED DESCRIPTION

[0049] In order to make the purpose, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. The following embodiments are used to illustrate the present invention but are not used to limit the scope of the present invention.

[0050] In the description of the present invention, it should be noted that the terms "upper", "lower", "inside", "outside", etc. indicate directions or positional relationships based on the directions or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device referred to must have a specific direction, be constructed and operated in a specific direction, and therefore cannot be understood as a limitation on the present invention.

[0051] In the description of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms "installation" and "connection" 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. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0052] During long-term use of photovoltaic panel a, a large amount of dust is easily deposited on the surface, and the energy conversion capacity of photovoltaic panel a decreases. Therefore, photovoltaic panel a needs to be cleaned regularly to improve the working efficiency of photovoltaic panel a.

[0053] In the related art, a gantry-type photovoltaic cleaning robot is used to clean photovoltaic panels a. The gantry-type photovoltaic cleaning robot has high requirements for the flatness of the ground. When encountering potholes and undulations on the ground, it is easy to fall over and press on photovoltaic panels a, causing damage to photovoltaic panels a. Figures 1 to 3 As shown, an embodiment of the present disclosure provides a photovoltaic panel cleaning robot, comprising: a movable frame 2, a cleaning component 3 and two brackets 1. The two brackets 1 are arranged at intervals, and a walking device 13 is arranged on the bracket 1, and the walking device 13 can move along the ground. The movable frame 2 is arranged between the two brackets 1, and the movable frame 2 is rotatably connected to the two brackets 1 respectively. The cleaning component 3 is arranged between the two brackets 1, and the cleaning component 3 is connected to the movable frame 2, and the cleaning component 3 has at least two roller brushes 33. When the photovoltaic panel cleaning robot performs a cleaning task, each roller brush 33 contacts the photovoltaic panel a, and each roller brush 33 is arranged in sequence along the walking direction of the photovoltaic panel cleaning robot.

[0054] The movable frame 2 of the present disclosure is rotatably connected to the bracket 1, and the movable frame 2 can sag under the action of gravity, so that the cleaning component 3 can always maintain a certain pressure contact with the photovoltaic panel a, reducing the vibration impact on the photovoltaic panel a. When the bracket 1 is affected by the ground and has a tendency to tilt, the tilting force is transmitted to the cleaning component 3 through the bracket 1 and the movable frame 2, and finally shared by the multiple roller brushes 33 on the cleaning component 3. The cleaning component 3 is subjected to a reaction force on the photovoltaic panel a to offset the tilting force of the bracket 1, thereby preventing the bracket 1 from tilting more significantly and affecting the normal cleaning operation.

[0055] like Figure 2 and Figure 3 As shown, taking the cleaning component 3 having two roller brushes 33 as an example, the two roller brushes 33 are arranged at intervals. The two roller brushes 33 are located on both sides of the two brackets 1 along the traveling direction. The two roller brushes 33 extend along the arrangement direction of the two brackets 1. The two roller brushes 33 contact the photovoltaic panel a one in front and one behind, respectively. When the bracket 1 tilts forward (tilts to the right), the roller brush 33 located at the front (such as the right side) will be subjected to the reaction force exerted by the photovoltaic panel a to offset the forward tilting force of the bracket 1, thereby preventing the bracket 1 from tipping forward. Similarly, when the bracket 1 tilts backward, the roller brush 33 located at the rear (left side) will be subjected to the reaction force exerted by the photovoltaic panel a to offset the backward tilting force of the bracket 1, thereby preventing the bracket 1 from tipping backward.

[0056] The cleaning assembly 3 may include three or more roller brushes 33, which are parallel to each other and can be located in the same plane. Each roller brush 33 can contact the surface of the photovoltaic panel a at the same time, which is beneficial for sharing the pressure changes of the photovoltaic panel a caused by the undulations of the road surface, dispersing the force, and reducing the shaking of the bracket 1. In addition, because the contact area with the photovoltaic panel a is increased, the cleaning effect is significantly improved.

[0057] In one possible embodiment, see Figures 1 to 3 As shown, the movable frame 2 is a gantry structure, which includes a crossbeam 21 and two vertical rods 22, the two vertical rods 22 are respectively connected to the crossbeam 21, the two vertical rods 22 are spaced apart, and the two ends of the crossbeam 21 are respectively rotatably connected to the corresponding bracket 1, or the two vertical rods are respectively rotatably connected to the corresponding bracket 1. The cleaning assembly 3 is respectively connected to the two vertical rods 22.

[0058] Preferably, both ends of the crossbeam 21 can be connected to the bracket 1 through bearings. The crossbeam 21 has a small rotational resistance. The cleaning component 3 is connected to the vertical rod 22. Under the action of the gravity of the cleaning component 3, the vertical rod 22 can smoothly droop, so that the cleaning component 3 and the photovoltaic panel a maintain good contact. During the movement of the photovoltaic panel cleaning robot, the roller brush 33 on the cleaning component 3 can effectively wipe the photovoltaic panel a and reduce the vibration impact of the photovoltaic panel cleaning robot on the photovoltaic panel a.

[0059] In a possible implementation manner, both ends of the cleaning component 3 can be respectively translated along the corresponding vertical rods 22 to adjust the inclination angle of the cleaning component 3 .

[0060] The photovoltaic panels a installed in different regions have different inclination angles, which will change according to the direct angle of sunlight, so as to obtain higher power generation efficiency. The two ends of the cleaning assembly 3 provided in the embodiment of the present disclosure can be translated along the vertical rod 22 respectively, so as to adjust the inclination angle of the cleaning assembly 3, so that the cleaning assembly 3 and the photovoltaic panel a maintain good contact. During the movement of the photovoltaic panel cleaning robot, the roller brush 33 on the cleaning assembly 3 can effectively wipe the photovoltaic panel a.

[0061] In a possible embodiment, the cleaning assembly includes two end parts and at least two roller brush racks 32. The two end parts are movably arranged on the vertical rod, the two ends of each roller brush rack are connected to the two end parts, and each roller brush is arranged on the corresponding roller brush rack. The end part can be a collar, which can be sleeved on the vertical rod 22, and the collar can slide along the vertical rod 22 to adjust the position. The position of the collar can be adjusted by manual operation, and then the inclination angle of the roller brush rack and the roller brush can be adjusted, so that the roller brush rack 32 is parallel to the photovoltaic panel a. A connecting hole can be set on the collar, and after the position of the collar is adjusted, the collar can be fixed to the vertical rod 22 by passing a fastener through the connecting hole. The photovoltaic panel cleaning robot can also automatically adjust the position of the collar. For example, the vertical rod 22 has an external thread, the collar has an internal thread, and the collar is threadedly connected to the vertical rod 22. A motor can be set on the movable frame 2, and the motor and the vertical rod 22 are connected in transmission to drive the vertical rod 22 to rotate, thereby driving the collar to translate along the vertical rod 22 to adjust the position of the collar. The structure adopts the principle of nut and screw. The specific location of the motor and the specific matching structure of the motor and the vertical rod 22 are not limited in this application.

[0062] The movable frame comprises a reinforcing beam, and the reinforcing beam is respectively connected to the two vertical rods. The arrangement of the reinforcing beam plays a role in enhancing the structural strength of the movable frame, preventing the movable frame from being deformed, and extending the service life of the movable frame.

[0063] The reinforcing beam 31 may not be directly connected to the two vertical rods, but may be connected to the two end parts and indirectly connected to the two vertical rods. Each of the roller brush racks 32 may be arranged in sequence along the circumference of the reinforcing beam 31, and each of the roller brush racks 32 may be directly connected to the reinforcing beam 31 or the end parts. The reinforcing beam 31 and each of the roller brush racks 32 form a triangular structure, so that the overall structural strength of the cleaning assembly is high and the structural stability is good.

[0064] In some other possible implementations, the movable frame 2 includes a crossbeam 21 and a cylinder, the cylinder barrel of the cylinder is connected to the crossbeam 2, and the vertical rod 22 can be a telescopic rod of the cylinder. The end parts can be hinged on the corresponding vertical rods, and each roller brush frame 32 and the reinforcing beam 32 are fixed on the end parts, and the rotation axis of the end parts is perpendicular to the plane where the movable frame is located. The telescopic movement of the cylinder can adjust the inclination angle of the reinforcing beam 31. The reinforcing beam 31 adopts a telescopic structure, and the reinforcing beam 31 is adaptively telescoped during the telescopic process of the vertical rod.

[0065] In a possible implementation scheme, the roller brush frame 32 includes a mounting rod 321 and connecting rods 322 arranged at both ends of the mounting rod 321, the connecting rods at both ends are respectively connected to corresponding end parts, or the connecting rod 322 is connected to the reinforcing beam 31, and the roller brush 33 is arranged on the mounting rod 321.

[0066] In this embodiment, each roller brush rack 32 and the reinforcing beam 31 form a quadrilateral (such as a rectangular) structure. The mounting rod 321 can be parallel to the reinforcing beam 31. The roller brush 33 can be sleeved on the mounting rod 321 and can rotate around the mounting rod 321. The roller brush 33 can also be fixed on the mounting rod 321 and cannot rotate around the mounting rod 321. When the cleaning component 3 includes two roller brush racks 32, a roller brush 33 is respectively installed on the mounting rods 321 on the two roller brush racks 32. The two roller brushes 33 are respectively arranged on one side of the corresponding mounting rod 321 close to the corresponding bracket 1. That is, the two roller brushes 33 are arranged diagonally, so that in the process of the cleaning component 3 being translated along the photovoltaic panel a, the cleaning component 3 is subjected to a stable force as a whole and is not easy to warp.

[0067] See also Figure 2 and Figure 3 As shown, taking the cleaning component 3 including two roller brush racks 32 as an example, the two roller brush racks 32 and the reinforcing beam 31 constitute a tripod body. When the cleaning component 3 has a certain tilting tendency, the tilting force is transmitted to the movable frame 2 through the connection between the bracket 1 and the movable frame 2. The movable frame 2 decomposes the tilting force f into pressure f1 and thrust f2 along the photovoltaic plane through the cleaning component 3 with a triangular structure. The angle between the pressure f1 and the original tilting force f is large, and the pressure will be much smaller than the tilting force f, reducing the impact force on the photovoltaic panel a. The reaction force obtained by the pressure will be applied to the bracket 1 to prevent the bracket 1 from tipping over.

[0068] In a possible implementation, the cross beam 21 includes two beam bodies 211, and the two beam bodies 211 are respectively connected to the corresponding brackets 1. The two vertical rods 22 are respectively connected to the two beam bodies 211. One of the two beam bodies 211 is slidably mounted on the other, and the two beam bodies 211 can move relative to each other to adjust the overlap length of the two.

[0069] In this embodiment, at least the beam body 211 with a large diameter is tubular, and the beam body 211 with a large diameter can be slidably mounted on the beam body 211 with a small diameter. The two beam bodies 211 can move relative to each other to adjust the total length so that the distance between the two brackets 1 matches the width of different photovoltaic panels, which is convenient for performing cleaning tasks on photovoltaic panels a of different sizes. After the two beam bodies 211 have adjusted their lengths, they can be fixed by fasteners so that the two beam bodies 211 remain in an adjusted state. For example, a plurality of connecting holes can be set on the beam body 211 with a large diameter, and a plurality of connecting holes can be set on the beam body 211 with a small diameter. The fasteners pass through the connecting holes on the beam body 211 with a large diameter and are connected to the connecting holes on the beam body 211 with a small diameter, thereby fixing the two beam bodies 211. The fasteners can be bolts.

[0070] In a possible implementation, the cleaning assembly 3 can be extended and retracted along the arrangement direction of the two brackets 1 to adjust the extension length.

[0071] In this embodiment, the length of the cleaning component 3 is adjustable and can be adapted to photovoltaic panels a of different sizes. On the basis that the length of the crossbeam 21 is adjustable, the length of the cleaning component 3 is also adjustable. When performing cleaning tasks on different photovoltaic panels a, it is not necessary to replace any structure of the photovoltaic panel cleaning robot, and only the length of the crossbeam 21 and the cleaning component 3 can be adjusted. The cleaning component 3 includes a reinforcing beam 31 and at least two roller brush racks 32. The reinforcing beam 31 may include two shaft bodies, and the ends of the two shaft bodies that are far away from each other are respectively connected with collars. The two shaft bodies have different diameters, and at least the shaft body with a larger diameter is tubular, and the shaft body with a larger diameter can be slidably sleeved on the shaft body with a smaller diameter. The two shaft bodies can be relatively moved to adjust the total extension length. After the two shaft bodies have adjusted their lengths, they can be fixed by fasteners so that the two shaft bodies remain in an adjusted state. For example, a plurality of connecting holes can be set on the shaft body with a larger diameter, and a plurality of connecting holes can be set on the shaft body with a smaller diameter, and the fasteners pass through the connecting holes on the shaft body with a larger diameter and connect the connecting holes on the shaft body with a smaller diameter. The fasteners can be bolts.

[0072] The roller brush frame 32 includes a mounting rod 321 and connecting rods 322 arranged at both ends of the mounting rod 321. The connecting rod 322 can be fixedly connected to one of the shaft bodies of the reinforcing beam 31 or fixed to a collar (a form of end component). The roller brush 33 is arranged on the mounting rod 321. The mounting rod 321 can include two rod sections, and the two rod sections are respectively connected to two connecting rods 322. When adjusting the relative movement of the two shaft bodies, the shaft body can drive the corresponding rod sections to move synchronously, thereby adjusting the overall length of the cleaning assembly. The roller brush 33 has a certain extension length. Even if there is a gap at the ends of the two rod sections, they are all located inside the roller brush 33, and the roller brush 33 will not separate from the two rod sections.

[0073] In a possible implementation scheme, the bracket 1 includes a column 11 and two diagonal braces 12, the opposite ends of the two diagonal braces are close to each other and are respectively connected to the column 11, the other ends of the two diagonal braces 12 are separated, and the ends are connected to a walking device 13, and the movable frame 2 is connected to the column 11.

[0074] In this embodiment, the support 1 is in a herringbone structure. The two diagonal braces 12 of the support 1 increase the span of the support 1, which helps the support 1 to adapt to various undulating terrains and is not prone to tipping over due to unstable center of gravity.

[0075] In one possible embodiment, see Figures 1 to 3As shown, the diagonal brace 12 includes a first diagonal brace section 121 and a second diagonal brace section 122, one of the first diagonal brace section 121 and the second diagonal brace section 122 is slidably mounted on the other, and the two can move relative to each other to adjust the overlap length of the two. The first diagonal brace section 121 is connected to the column 11, and the end of the second diagonal brace section 122 away from the first diagonal brace section 121 is connected to the walking device 13.

[0076] The diagonal brace 12 is a retractable structure, and the diagonal brace 12 is composed of two diagonal brace sections. The two diagonal brace sections can move relative to each other to adjust the total extension length of the diagonal brace. Small road undulations in the driving direction of the photovoltaic panel cleaning robot can be resolved by the diagonal brace 12 of the two brackets 1 in contact with the ground, so that the cleaning component 3 can maintain good contact with the photovoltaic panel a. An active telescopic mechanism can be set between the first diagonal brace section 121 and the second diagonal brace section 122, or a passive telescopic mechanism can be set. If a first active telescopic mechanism is set on the diagonal brace, the first active telescopic mechanism is at least connected to any one of the first diagonal brace section 121 and the second diagonal brace section 122 in a transmission manner to drive the two diagonal brace sections to move closer to each other or away from each other in the opposite direction, thereby adjusting the total length of the diagonal brace 12. A road condition detection module can be provided on the photovoltaic panel cleaning robot to detect the undulating state of the road surface. The road condition detection module is electrically connected to the first active telescopic mechanism. The first active telescopic mechanism adjusts the telescopic amount of the diagonal support 12 in real time according to the road surface information detected by the road condition detection module, ensuring that the cleaning component 3 can always maintain a certain pressure contact with the photovoltaic panel to prevent the cleaning component 3 from being separated from the photovoltaic panel. A first passive telescopic mechanism can also be provided between the first diagonal support section 121 and the second diagonal support section 122. The first passive telescopic mechanism is an elastic mechanism, which is provided between the first diagonal support section 121 and the second diagonal support section 122. When the bracket 1 walks along the undulating road surface, the first passive telescopic mechanism can buffer the impact force and can adaptively adjust the telescopic amount of the two diagonal support sections, which is conducive to the cleaning component 3 always maintaining a certain pressure contact with the photovoltaic panel.

[0077] In a possible implementation, the columns include a first column 111 and a second column 112, one of the first column 111 and the second column 112 can be slidably mounted on the other, and the two can move relative to each other to adjust the overlapping length thereof, the movable frame 2 is connected to the first column 111, and the diagonal brace 12 is connected to the second column 112.

[0078] The column 11 is a retractable structure. The column 11 can be composed of two parts. The two parts can move relative to each other to adjust the total extension length of the column 11. Small road undulations in the driving direction of the photovoltaic panel cleaning robot can be offset by controlling the extension and retraction of the column 11, so that the cleaning component 3 can maintain good contact with the photovoltaic panel a. A second active telescopic mechanism can be set between the first column 111 and the second column 112, and a second passive telescopic mechanism can also be set. If a second active telescopic mechanism is set on the column 11, the second active telescopic mechanism is at least connected to any one of the first column 111 and the second column 112 in a transmission manner to drive the two columns to move closer to each other or away from each other, thereby adjusting the total length of the column 11. A road condition detection module can be provided on the photovoltaic panel cleaning robot to detect the undulation of the road surface. The road condition detection module is electrically connected to the second active telescopic mechanism. The second active telescopic mechanism adjusts the telescopic amount of the column 11 in real time according to the road surface information detected by the road condition detection module, so that the cleaning component 3 can always maintain a certain pressure contact with the photovoltaic panel a, thereby preventing the cleaning component 3 from separating from the photovoltaic panel a.

[0079] A second passive telescopic mechanism can also be arranged between the first column 111 and the second column 112. The second passive telescopic mechanism is an elastic mechanism, which is arranged between the first column 111 and the second column 112. When the bracket 1 moves along an undulating road surface, the first passive telescopic mechanism can buffer the impact force and can adaptively adjust the telescopic amount of the two columns, which is beneficial for the cleaning component 3 to always maintain a certain pressure contact with the photovoltaic panel.

[0080] The entire photovoltaic panel cleaning robot can adapt to all terrains by sensing the undulations of the ground and dynamically planning the support 1 , the movable frame 2 and the walking device 13 .

[0081] In a possible implementation, the walking device 13 includes a body and wheels connected to the body, and the body is hinged to the diagonal support 12. When the photovoltaic panel cleaning robot walks along the road surface, when passing through an undulating road surface, the body will automatically and adaptively rotate to adjust the angle, thereby achieving full-terrain adaptation, reducing walking resistance, and facilitating the photovoltaic panel cleaning robot to pass through the undulating road surface smoothly.

[0082] The above description has been given for the purpose of illustration and description. In addition, this description is not intended to limit the embodiments of the present disclosure to the forms disclosed herein. Although multiple example aspects and embodiments have been discussed above, those skilled in the art will recognize certain variations, modifications, changes, additions and sub-combinations thereof.

Claims

1. A photovoltaic panel cleaning robot, characterized in that: include: Two brackets, the two brackets are arranged at intervals, and the brackets are provided with walking devices; A movable frame, which is disposed between the two brackets and is rotatably connected to the two brackets respectively; A cleaning component is arranged between the two brackets, the cleaning component is connected to the movable frame, and the cleaning component has at least two roller brushes, and each of the roller brushes is arranged in sequence along the walking direction of the photovoltaic panel cleaning robot.

2. The photovoltaic panel cleaning robot according to claim 1, characterized in that: The movable frame includes a crossbeam and two vertical rods; The two vertical rods are respectively connected to the cross beam, and the two vertical rods are arranged at intervals; The cross beam or the vertical rod is rotatably connected to the bracket; The cleaning components are respectively connected to the two vertical rods.

3. The photovoltaic panel cleaning robot according to claim 2, characterized in that: The two ends of the cleaning component can be respectively translated along the corresponding vertical rods to adjust the inclination angle of the cleaning component.

4. The photovoltaic panel cleaning robot according to claim 2, characterized in that: The cleaning assembly includes two end members and at least two roller brush holders; The two end parts are movably arranged on the vertical rod respectively; Both ends of each of the roller brush frames are respectively connected to the two end components; Each of the roller brushes is respectively arranged on a corresponding roller brush frame.

5. The photovoltaic panel cleaning robot according to claim 4, characterized in that: The roller brush frame includes a mounting rod and connecting rods arranged at both ends of the mounting rod; The connecting rods at both ends are respectively connected to the corresponding end members; The roller brush is arranged on the mounting rod.

6. The photovoltaic panel cleaning robot according to claim 2, characterized in that: The movable frame comprises a reinforcing beam, and the reinforcing beam is respectively connected to the two vertical rods.

7. The photovoltaic panel cleaning robot according to claim 2, characterized in that: The crossbeam includes two beam bodies, and the two beam bodies are respectively connected to corresponding brackets; The two vertical rods are respectively connected to the two beam bodies; One of the two beam bodies can be slidably sleeved on the other, and the two beam bodies can move relatively to adjust the overlapping length of the two beam bodies.

8. The photovoltaic panel cleaning robot according to any one of claims 1 to 7, characterized in that: The cleaning assembly can be extended and retracted along the arrangement direction of the two brackets to adjust the extension length.

9. The photovoltaic panel cleaning robot according to any one of claims 1 to 7, characterized in that: The support comprises a column and two diagonal braces; The opposite ends of the two diagonal braces are close to each other and are respectively connected to the upright posts; The other ends of the two diagonal braces are separated, and the ends are connected with walking devices; The movable frame is connected to the column.

10. The photovoltaic panel cleaning robot according to claim 9, characterized in that: The diagonal brace includes a first diagonal brace section and a second diagonal brace section; One of the first diagonal bracing section and the second diagonal bracing section can be slidably mounted on the other, and the two can move relative to each other to adjust the overlapping length of the two; The first oblique support section is connected to the column, and one end of the second oblique support section away from the first oblique support section is connected to the walking device.

11. The photovoltaic panel cleaning robot according to claim 9, characterized in that: The pillars include a first pillar and a second pillar; One of the first column and the second column can be slidably mounted on the other, and the two can move relative to each other to adjust the overlapping length of the two; The movable frame is connected to the first column, and the diagonal support is connected to the second column.

12. The photovoltaic panel cleaning robot according to claim 9, characterized in that: The walking device includes a vehicle body and wheels connected to the vehicle body; The vehicle body is hinged to the diagonal support.

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