Photovoltaic cleaning robot

Abstract

The photovoltaic cleaning robot is used for cleaning a photovoltaic module and comprises a rack, a machine head and a machine tail, the machine head and the machine tail are arranged at the two ends of the rack in the length direction, each of the machine head and the machine tail comprises a first walking wheel, a second walking wheel, a driving mechanism and a crank mechanism, the driving mechanism is connected with the rack, and the crank mechanism is connected with the rack. The driving mechanism comprises a first output part and a second output part, the first walking wheel is connected with the first output part, the two ends of the crank mechanism are connected with the second output part and the second walking wheel, the driving mechanism is used for driving the first walking wheel to rotate, and the crank mechanism is used for driving the second walking wheel to rotate. And the crank mechanism drives the second walking wheel and the first walking wheel to rotate synchronously. The photovoltaic cleaning robot is not prone to deflection in the walking process and low in cost.

Description

Technical Field

[0001] The invention relates to a photovoltaic cleaning robot and belongs to the technical field of photovoltaics. Background Art

[0002] The photovoltaic cleaning robot includes walking wheels and guide wheels. The walking wheels are responsible for the robot walking on photovoltaic panels and climbing between panels, while the guide wheels are responsible for the robot walking in a straight line and assisting in climbing.

[0003] In the related technology, the running wheels of the upper and lower heads of the photovoltaic cleaning robot are connected by a transmission shaft. When idling, the rotation speed of the running wheels of the upper and lower heads is consistent, which can theoretically ensure the consistency of the running speed of the upper and lower heads; but in actual application, due to the different running resistance of the upper and lower heads, the running speed of the upper and lower heads is inconsistent, which in turn causes the cleaning robot to deflect, affecting the cleaning effect and passability of the cleaning robot; because the running wheels of the upper and lower heads are connected by a transmission shaft, the speed difference of the upper and lower heads cannot be adjusted, that is, the deviation cannot be corrected. At the same time, the upper and lower heads of the photovoltaic cleaning robot often use sprockets or gears to transmit between the two running wheels, which need to be regularly tightened and maintained, resulting in high costs. Summary of the invention

[0004] The object of the present invention is to provide a photovoltaic cleaning robot which is not easy to deflect during walking and has low cost.

[0005] To achieve the above object, the present invention adopts the following technical solution:

[0006] A photovoltaic cleaning robot is used to clean photovoltaic modules, comprising a frame, a head and a tail, wherein the head and the tail are arranged at both ends of the frame in the length direction.

[0007] The head and the tail both include a first walking wheel, a second walking wheel, a driving mechanism and a crank mechanism. The driving mechanism is connected to the frame. The driving mechanism includes a first output part and a second output part. The first walking wheel is connected to the first output part. Both ends of the crank mechanism are connected to the second output part and the second walking wheel. The driving mechanism is used to drive the first walking wheel to rotate, and drive the second walking wheel to rotate synchronously with the first walking wheel through the crank mechanism.

[0008] As a further improved technical solution of the present invention, the crank mechanism comprises a first connecting rod, a second connecting rod, a third connecting rod, a fourth connecting rod and a fifth connecting rod, wherein the first connecting rod, the second connecting rod, the third connecting rod and the fourth connecting rod are sequentially connected end to end to form an outer frame of the crank mechanism.

[0009] The driving mechanism controls the second output part to rotate, and the second output part can drive the crank mechanism to swing back and forth.

[0010] As a further improved technical solution of the present invention, the two ends of the first connecting rod are movably connected to the second output part and the second walking wheel, the two ends of the second connecting rod are connected to the second output part and one end of the fourth connecting rod, the two ends of the third connecting rod are connected to the second walking wheel and the other end of the fourth connecting rod, and the two ends of the fifth connecting rod are connected to the middle position of the first connecting rod and the middle position of the fourth connecting rod.

[0011] As a further improved technical solution of the present invention, the first connecting rod is parallel to the fourth connecting rod, the second connecting rod, the third connecting rod and the fifth connecting rod are parallel and have the same length, and the length of the second connecting rod is less than half of the length of the fourth connecting rod.

[0012] As a further improved technical solution of the present invention, the driving mechanism includes a driving member and a first reducer connected to the driving member, and the first reducer includes the first output part and the second output part.

[0013] As a further improved technical solution of the present invention, a second reducer is provided between the second traveling wheel and the crank mechanism, the second reducer is connected to the frame, the second reducer includes a third output part and an input part, the second traveling wheel is connected to the third output part, and the crank mechanism is connected to the input part.

[0014] As a further improved technical solution of the present invention, the nose and the tail both include a first guide wheel and a second guide wheel, the first reducer includes a fourth output part, the second reducer includes a fifth output part, the first guide wheel is connected to the fourth output part, and the second guide wheel is connected to the fifth output part.

[0015] As a further improved technical solution of the present invention, the driving mechanism of the head and the driving mechanism of the tail are arranged on both sides of the diagonal line in the width direction of the frame.

[0016] As a further improved technical solution of the present invention, the photovoltaic cleaning robot includes a roller brush and a driving component connected to the roller brush, and the driving component is connected to the frame.

[0017] As a further improved technical solution of the present invention, the photovoltaic cleaning robot includes a blocking mechanism, which is connected to the frame, and the blocking mechanism is at least partially located below the frame, and in the height direction of the photovoltaic cleaning robot, the roller brush is located between the blocking mechanism and the frame.

[0018] Compared with the prior art, the beneficial effects of the present invention are as follows: the photovoltaic cleaning robot provided by the present invention comprises a head and a tail, and the first running wheel and the second running wheel of the head and the first running wheel and the second running wheel of the tail are independently driven by their own driving mechanisms respectively, and the speed difference between the head and the tail can be adjusted, thereby realizing the deviation correction of the photovoltaic cleaning robot; the first running wheel and the second running wheel are synchronously rotated by the crank mechanism; the crank mechanism is used for transmission, the structure is simple, and the manufacturing cost and maintenance cost are low. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 is a three-dimensional schematic diagram of the photovoltaic cleaning robot of the present invention;

[0020] Figure 2 yes Figure 1 An exploded schematic diagram of the photovoltaic cleaning robot is shown;

[0021] Figure 3 yes Figure 2 A magnified schematic diagram of the middle A area;

[0022] Figure 4 yes Figure 1 The schematic diagram of the photovoltaic cleaning robot from another angle is shown;

[0023] Figure 5 yes Figure 4 A magnified schematic diagram of the middle B area;

[0024] Figure 6 yes Figure 1 A three-dimensional schematic diagram of the photovoltaic cleaning robot from another angle is shown;

[0025] Figure 7 yes Figure 6 An exploded schematic diagram of the photovoltaic cleaning robot is shown;

[0026] Figure 8 yes Figure 7 Enlarged schematic diagram of the middle C area;

[0027] Fig. 9 yes Figure 1 A top view of the photovoltaic cleaning robot is shown;

[0028] Fig.10 yes Figure 4 A three-dimensional schematic diagram of the nose or tail of the aircraft;

[0029] Fig.11 yes Fig.10 An exploded schematic diagram of the nose or tail of the aircraft shown;

[0030] Fig.12 yes Fig.10 Exploded diagram of some components. DETAILED DESCRIPTION

[0031] The exemplary embodiments of the present invention will be described in detail below in conjunction with the accompanying drawings. If there are several embodiments, the features of these embodiments can be combined with each other without conflict. When the description refers to the drawings, unless otherwise specified, the same numbers in different drawings represent the same or similar elements. The contents described in the following exemplary embodiments do not represent all embodiments consistent with the present invention; on the contrary, they are only examples of devices, products and / or methods consistent with some aspects of the present invention as recorded in the claims of the present invention.

[0032] The terms used in the present invention are only for the purpose of describing specific embodiments, and are not intended to limit the scope of protection of the present invention. The singular forms "a", "said" or "the" used in the specification and claims of the present invention are also intended to include plural forms, unless the context clearly indicates other meanings.

[0033] It should be understood that the words used in the specification and claims of the present invention, such as "first", "second" and similar words, do not indicate any order, quantity or importance, but are only used to distinguish the names of features. Similarly, words such as "one" or "an" do not indicate a quantitative limitation, but indicate the existence of at least one. Unless otherwise specified, words such as "front", "rear", "upper", "lower" and similar words appearing in the present invention are only for the convenience of explanation and are not limited to a specific position or a spatial orientation. Words such as "include" or "comprise" are an open-ended expression, meaning that the elements appearing before "include" or "comprise" include the elements appearing after "include" or "comprise" and their equivalents, which does not exclude that the elements appearing before "include" or "comprise" may also include other elements. If "several" appears in the present invention, it means two or more.

[0034] Please refer to Figures 1 to 12 As shown, the present invention discloses a photovoltaic cleaning robot suitable for cleaning photovoltaic modules. The photovoltaic cleaning robot includes a frame 10, a head 20, a tail 30 and a roller brush assembly 40. The head 20 and the tail 30 are arranged at both ends of the frame 10 in the length direction, and the roller brush assembly 40 is connected to the frame 10.

[0035] See also Figure 2 The frame 10 includes two cross beams 101 and support bases 102 connected to both ends of the two cross beams 101 , one support base 102 is used to support the nose 20 , and the other support base 102 is used to support the tail 30 .

[0036] See also Figure 5The support seat 102 includes a bottom plate 1021, an end plate 1022 connected to the bottom plate 1021, two side plates 1023 connecting the bottom plate 1021 and the end plate 1022, and a connecting portion 1024 connected to the two side plates 1023, the connecting portion 1024 is provided with a mounting groove 1025, and the end of the beam 101 is arranged in the mounting groove 1025.

[0037] See also Figures 2 to 4 , the head 20 and the tail 30 both include a first walking wheel 1, a second walking wheel 2, a driving mechanism 3 and a crank mechanism 4, the driving mechanism 3 is connected to the end plate 1022 of the frame 10, the driving mechanism 3 includes a first output part 321 and a second output part 322, the first walking wheel 1 is connected to the first output part 321, and the two ends of the crank mechanism 4 are connected to the second output part 322 and the second walking wheel 2, the driving mechanism 3 is used to drive the first walking wheel 1 to rotate, and drive the second walking wheel 2 to rotate synchronously with the first walking wheel 1 through the crank mechanism 4. In the present invention, the first walking wheel 1 and the second walking wheel 2 of the head 20 and the first walking wheel 1 and the second walking wheel 2 of the tail 30 are independently driven by their respective driving mechanisms 3, and the speed difference between the head 20 and the tail 30 can be adjusted, so as to realize the deviation correction of the photovoltaic cleaning robot; through the transmission of the crank mechanism 4, the first walking wheel 1 and the second walking wheel 2 are realized to rotate synchronously.

[0038] In this embodiment, see Fig. 9 The driving mechanism 3 of the head 20 and the driving mechanism 3 of the tail 30 are arranged on both sides of the diagonal in the width direction of the frame 10. In this way, the weight distribution on both sides of the width direction of the photovoltaic cleaning robot is uniform, the photovoltaic components are evenly stressed, and local compression and deformation of the photovoltaic components are avoided.

[0039] See also Figure 3 and Figure 4 The driving mechanism 3 includes a driving member 31 and a first reducer 32 connected to the driving member 31. The first reducer 32 is connected to the end plate 1022 of the frame 10. The first reducer 32 includes a first output portion 321 and a second output portion 322. Optionally, the driving member 31 is a motor.

[0040] The first reducer 32 includes a first housing and a first gear assembly disposed on the first housing, the first output portion 321 and the second output portion 322 are both connected to the first gear assembly, and the driving member 31 controls the first output portion 321 and the second output portion 322 to rotate synchronously through the first gear assembly. The first gear assembly belongs to the prior art and is not shown in the figure in the present invention.

[0041] The crank mechanism 4 is a parallel double crank mechanism. Figure 4The crank mechanism 4 includes a first connecting rod 41, a second connecting rod 42, a third connecting rod 43, a fourth connecting rod 44 and a fifth connecting rod 45. The first connecting rod 41, the second connecting rod 42, the third connecting rod 43 and the fourth connecting rod 44 are connected end to end in sequence to form an outer frame of the crank mechanism 4. The driving mechanism 3 controls the rotation of the second output part 322, and the second output part 322 can drive the crank mechanism 4 to swing back and forth.

[0042] Specifically, the two ends of the first connecting rod 41 are movably connected with the second output part 322 and the second running wheel 2, the two ends of the second connecting rod 42 are connected with the second output part 322 and one end of the fourth connecting rod 44, the two ends of the third connecting rod 43 are connected with the second running wheel 2 and the other end of the fourth connecting rod 44, the two ends of the fifth connecting rod 45 are connected with the middle position of the first connecting rod 41 and the middle position of the fourth connecting rod 44, the driving mechanism 3 controls the rotation of the second output part 322, the second output part 322 can drive the second connecting rod 42, the third connecting rod 43, the fourth connecting rod 44 and the fifth connecting rod 45 to perform circular motion around the first connecting rod 41, and the third connecting rod 43 drives the second running wheel 2 to rotate synchronously with the first running wheel 1. The crank mechanism 4 is composed of a plurality of connecting rods, and the transmission is performed through the plurality of connecting rods, so the structure is simple, and the manufacturing cost and maintenance cost are low.

[0043] The two ends of the first link 41 are also movably connected to the second link 42 and the third link 43. Along the length direction of the first link 41, the fifth link 45 is located between the second link 42 and the third link 43, and the distance between the fifth link 45 and the second link 42 is equal to the distance between the fifth link 45 and the third link 43. The fifth link 45 is located in the middle of the second link 42 and the third link 43. Further, the second link 42, the third link 43 and the fifth link 45 are rotatably connected to the side of the first link 41 facing away from the support seat 102, and the second link 42, the third link 43 and the fifth link 45 are connected to the side of the fourth link 44 facing the support seat 102.

[0044] In this embodiment, the first connecting rod 41 and the fourth connecting rod 44 are parallel and equal in length, the second connecting rod 42, the third connecting rod 43 and the fifth connecting rod 45 are parallel and equal in length, and the length of the second connecting rod 42 is less than half of the length of the fourth connecting rod 44. During the operation of the crank mechanism 4, the second connecting rod 42, the third connecting rod 43 and the fifth connecting rod 45 are prevented from colliding with the first connecting rod 41 and the fourth connecting rod 44.

[0045] In this embodiment, see Figures 2 to 4 A second reducer 5 is provided between the second traveling wheel 2 and the crank mechanism 4. The second reducer 5 is connected to the end plate 1022 of the frame 10. The second reducer 5 includes a third output part 51 and an input part 52. The second traveling wheel 2 is connected to the third output part 51, and the first connecting rod 41 and the third connecting rod 43 of the crank mechanism 4 are both connected to the input part 52.

[0046] The second reducer 5 includes a second housing and a second gear assembly disposed on the second housing, the third output portion 51 and the input portion 52 are both connected to the second gear assembly, the third connecting rod 43 drives the input portion 52 to rotate, and the input portion 52 drives the third output portion 51 to rotate synchronously through the second gear assembly. The second gear assembly belongs to the prior art and is not shown in the figure in the present invention.

[0047] The second output part 322 and the input part 52 are both movably arranged on the end plate 1022 of the support seat 102 . The first running wheel 1 , the second running wheel 2 , the driving mechanism 3 and the second reducer 5 are all located on the inner side of the end plate 1022 , and the crank mechanism 4 is located on the outer side of the end plate 1022 .

[0048] The first output portion 321, the second output portion 322, the third output portion 51 and the input portion 52 are all shaft-shaped components. Fig.12 The second output portion 322 and the input portion 52 are both inserted into the through holes 411 at both ends of the first connecting rod 41 and can rotate in the through holes 411. The second connecting rod 42 and the third connecting rod 43 are respectively fixedly connected to the second output portion 322 and the input portion 52 extending outside the two first through holes 411. Fig.11 , the second connecting rod 42 and the third connecting rod 43 are rotatably connected to both ends of the fourth connecting rod 44 through the first connecting member 46, and the two ends of the fifth connecting rod 45 are rotatably connected to the first connecting rod 41 and the fourth connecting rod 44 through the second connecting member 47. During the walking process of the photovoltaic cleaning robot, the first connecting rod 41 does not rotate, and the second connecting rod 42, the third connecting rod 43, the fourth connecting rod 44 and the fifth connecting rod 45 rotate around the first connecting rod 41, that is, the first connecting rod 41 is a fixed rod, the second connecting rod 42 is a driving crank, the third connecting rod 43 is a driven crank, the fourth connecting rod 44 is a driven connecting rod, and the fifth connecting rod 45 is a constraint rod, which limits the movement of the second connecting rod 42, the third connecting rod 43 and the fourth connecting rod 44, so that the fourth connecting rod 44 is always in a parallel state with the first connecting rod 41 during the rotation process.

[0049] See also Fig.10 and Fig.11 The head 20 and the tail 30 both include a first guide wheel 6 and a second guide wheel 7, the first reducer 32 also includes a fourth output part 323, the second reducer 5 also includes a fifth output part 53, the first guide wheel 6 is rotatably connected to the fourth output part 323, the second guide wheel 7 is rotatably connected to the fifth output part 53, and the first guide wheel 6 and the second guide wheel 7 guide the walking of the photovoltaic cleaning robot.

[0050] In some embodiments, the input end of the first reducer 32 drives the fourth output part 323 to rotate, and the input part 52 of the second reducer 5 drives the fifth output part 53 to rotate. That is, the fourth output part 323 is connected to the first gear assembly, and the fifth output part 53 is connected to the second gear assembly. The first reducer 32 is a three-axis linkage gearbox, and the second reducer 5 is a double-axis linkage gearbox. When the photovoltaic cleaning robot moves forward (or backward), the driving member 31 of the head 20 is started, and the power is transmitted to the first walking wheel 1 through the first output part 321 of the first reducer 32, the second output part 322 transmits the power to the second connecting rod 42, and the fourth output part 323 transmits the power to the first guide wheel 6, and transmits the power to the input part 52 of the second reducer 5 through the crank mechanism 4, the third output part 51 transmits the power to the second walking wheel 2, and the fifth output part 53 transmits the power to the second guide wheel 7. The movement process of the tail 30 is the same as that of the head 20, which will not be repeated here.

[0051] In another embodiment, the fourth output part 323 and the fifth output part 53 are both in a free state, that is, the fourth output part 323 is not connected to the first gear assembly, the fifth output part 53 is not connected to the second gear assembly, the fourth output part 323 is not controlled by the input end of the first reducer 32, and the fifth output part 53 is not controlled by the input part 52 of the second reducer 5. The first reducer 32 is a three-axis non-linked gearbox, and the second reducer 5 is a double-axis non-linked gearbox. When the photovoltaic cleaning robot moves forward (or backward), because the fourth output part 323 and the fifth output part 53 are both in a free state, the first guide wheel 6 and the second guide wheel 7 have no power and are used as idle wheels.

[0052] Since the reduction ratios of the two first reducers 31 and the two second reducers 5 are both 1, and according to the characteristics of the parallel double crank mechanism, the rotation speeds of the two running wheels of the head 20 and the two guide wheels are the same, which is equal to the rotation speed of the driving member 31; the rotation speeds of the two running wheels of the tail 30 are the same, which is equal to the rotation speed of the driving member 31. By adjusting the rotation speeds of the driving member 31 of the head 20 and the driving member 31 of the tail 30, the speed difference between the head 20 and the tail 30 can be adjusted, thereby realizing the deviation correction of the photovoltaic cleaning robot.

[0053] See also Figure 7 The photovoltaic cleaning robot includes a roller brush 81 and a driving assembly 82 connected to the roller brush 81. The driving assembly 82 is connected to the support base 102 of the frame 10, and the driving assembly 82 is arranged between the first reducer 32 and the second reducer 5. For details, see Figure 8The driving component 82 includes a driver 821 and a gear box 822 connected to the driver 821, the gear box 822 is connected to a support seat 102, one end of the roller brush 81 is connected to the gear box 822, and the other end of the roller brush 81 is connected to another support seat 102. The driver 821 drives the roller brush 81 to rotate around the frame 10 through the gear box 822 to clean the photovoltaic components.

[0054] See also Figure 6 The photovoltaic cleaning robot includes a blocking mechanism 50, which is connected to the bottom plate 1021 of the frame 10. The blocking mechanism 50 is at least partially located below the frame 10, and in the height direction of the photovoltaic cleaning robot, the roller brush 81 is located between the blocking mechanism 50 and the frame 10 to prevent the photovoltaic cleaning robot from tilting upward and falling off.

[0055] See also Figure 7 The blocking mechanism 50 includes two fixing frames 501 and a blocking member 502 rotatably connected to each fixing frame 501. The two fixing frames 501 are correspondingly fixed to the bottom plates 1021 of the two support seats 102. The blocking member 502 is at least partially located on a side of the photovoltaic assembly away from the roller brush 81.

[0056] The above implementation modes are only used to illustrate the present invention and are not intended to limit the technical solutions described in the present invention. The understanding of the present invention should be based on the technical personnel in the relevant technical field. Although the present invention has been described in detail in this specification with reference to the above implementation modes, the ordinary technical personnel in the field should understand that the technical personnel in the relevant technical field can still modify or replace the present invention with equivalents, and all technical solutions and improvements thereof that do not depart from the spirit and scope of the present invention should be covered within the scope of the claims of the present invention.

Claims

1. A photovoltaic cleaning robot for cleaning photovoltaic modules, characterized in that: The machine comprises a frame (10), a head (20) and a tail (30), wherein the head (20) and the tail (30) are arranged at two ends of the frame (10) in the length direction. The machine head (20) and the machine tail (30) both comprise a first walking wheel (1), a second walking wheel (2), a driving mechanism (3) and a crank mechanism (4); the driving mechanism (3) is connected to the frame (10); the driving mechanism (3) comprises a first output part (321) and a second output part (322); the first walking wheel (1) is connected to the first output part (321); the two ends of the crank mechanism (4) are connected to the second output part (322) and the second walking wheel (2); the driving mechanism (3) is used to drive the first walking wheel (1) to rotate, and drive the second walking wheel (2) to rotate synchronously with the first walking wheel (1) through the crank mechanism (4).

2. The photovoltaic cleaning robot according to claim 1, characterized in that: The crank mechanism (4) comprises a first connecting rod (41), a second connecting rod (42), a third connecting rod (43), a fourth connecting rod (44) and a fifth connecting rod (45); the first connecting rod (41), the second connecting rod (42), the third connecting rod (43) and the fourth connecting rod (44) are connected end to end in sequence to form an outer frame of the crank mechanism (4); The driving mechanism (3) controls the second output part (322) to rotate, and the second output part (322) can drive the crank mechanism (4) to swing back and forth.

3. The photovoltaic cleaning robot according to claim 2, characterized in that: The two ends of the first connecting rod (41) are movably connected to the second output portion (322) and the second running wheel (2); the two ends of the second connecting rod (42) are connected to the second output portion (322) and one end of the fourth connecting rod (44); the two ends of the third connecting rod (43) are connected to the second running wheel (2) and the other end of the fourth connecting rod (44); and the two ends of the fifth connecting rod (45) are connected to the middle position of the first connecting rod (41) and the middle position of the fourth connecting rod (44).

4. The photovoltaic cleaning robot according to claim 3, characterized in that: The first connecting rod (41) is parallel to the fourth connecting rod (44), the second connecting rod (42), the third connecting rod (43) and the fifth connecting rod (45) are parallel and have the same length, and the length of the second connecting rod (42) is less than half of the length of the fourth connecting rod (44).

5. The photovoltaic cleaning robot according to claim 1, characterized in that: The driving mechanism (3) comprises a driving member (31) and a first reducer (32) connected to the driving member (31), wherein the first reducer (32) comprises the first output portion (321) and the second output portion (322).

6. The photovoltaic cleaning robot according to claim 5, characterized in that: A second reducer (5) is provided between the second traveling wheel (2) and the crank mechanism (4); the second reducer (5) is connected to the frame (10); the second reducer (5) comprises a third output portion (51) and an input portion (52); the second traveling wheel (2) is connected to the third output portion (51), and the crank mechanism (4) is connected to the input portion (52).

7. The photovoltaic cleaning robot according to claim 6, characterized in that: The nose (20) and the tail (30) both include a first guide wheel (6) and a second guide wheel (7); the first reducer (32) includes a fourth output portion (323); the second reducer (5) includes a fifth output portion (53); the first guide wheel (6) is connected to the fourth output portion (323); and the second guide wheel (7) is connected to the fifth output portion (53).

8. The photovoltaic cleaning robot according to claim 1, characterized in that: The driving mechanism (3) of the machine head (20) and the driving mechanism (3) of the machine tail (30) are arranged on both sides of the diagonal line in the width direction of the frame (10).

9. The photovoltaic cleaning robot according to claim 1, characterized in that: The photovoltaic cleaning robot comprises a roller brush (81) and a driving component (82) connected to the roller brush (81), and the driving component (82) is connected to the frame (10).

10. The photovoltaic cleaning robot according to claim 9, characterized in that: The photovoltaic cleaning robot comprises a blocking mechanism (50), the blocking mechanism (50) is connected to the frame (10), the blocking mechanism (50) is at least partially located below the frame (10), and in the height direction of the photovoltaic cleaning robot, the roller brush (81) is located between the blocking mechanism (50) and the frame (10).

Images