Photovoltaic cleaning robot

Abstract

The invention relates to a photovoltaic cleaning robot which comprises a tubular beam provided with walking wheels, the walking wheels can walk on a photovoltaic panel, and the lower end face of the tubular beam is provided with a plurality of dry suction holes used for sucking dust; the fan communicates with the hollow cavity in the tubular beam and is used for forming negative pressure in the tubular beam; the exhaust port is communicated with the hollow cavity in the tubular beam, the exhaust port is used for discharging dust, the end, where the fan is located, of the tubular beam is higher than the end, where the exhaust port is located, of the tubular beam, and gas in the tubular beam flows in the direction from the fan to the exhaust port. According to the photovoltaic cleaning robot, the axial flow fan is additionally arranged at the front end of the pipe beam of the cleaning robot to generate high-speed airflow, holes are formed in the wall of the pipe beam at certain intervals, negative pressure is generated by means of the flow velocity difference of air inside and outside the pipe beam, and dust generated during cleaning is sucked into the pipe beam and conveyed to the tail portion to be discharged on the directional ground along the pipe beam; and dust is prevented from secondary sedimentation on the surface of the photovoltaic module to the greatest extent.

Description

Technical Field

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

[0002] During the operation of photovoltaic power stations, dust accumulation on photovoltaic panels will greatly reduce the power generation efficiency. Therefore, a photovoltaic cleaning robot is designed and applied. The photovoltaic cleaning robot is equipped with an automatic guidance device, which can travel along a specified route to clean photovoltaic panels. Its route and behavior can be set and controlled by a computer, and it has the characteristics of high efficiency, speed, automation and safety.

[0003] Existing large-scale photovoltaic power stations are generally built in areas with relatively harsh environments, where land costs are cheaper and lighting conditions are good, but there is also more dust, so photovoltaic cleaning robots need to regularly clean dust, fallen leaves and other stains attached to the photovoltaic glass panels to keep them clean and maintain normal power generation efficiency.

[0004] The current solution is a cleaning solution that moves the particles in the fluid moving from all directions in the pipe beam in one direction to reduce the collision of particles in the fluid with other particles and the pipe wall, thereby achieving the purpose of reducing pressure and forming a negative pressure on the pipe beam. Therefore, we add an axial flow fan at the front end of the pipe beam. As the axial flow fan rotates, the speed of the flowing gas in the pipe beam is accelerated, and the particles in the fluid quickly flow from the front end of the pipe beam to the rear end of the pipe beam, thereby forming a low pressure inside the pipe beam and a high pressure outside the pipe beam. A pressure difference will be formed inside and outside the pipe beam, allowing the fluid outside the pipe beam to flow from the high-pressure area to the low-pressure area through the through holes of the pipe beam, thus achieving the effect of dust collection. The principle diagram is shown below. Figure 8 , 9 shown.

[0005] However, this structure has certain limitations. The first is the size of the tube beam. If the tube beam itself is too large, the advantage is that we can install a larger axial flow fan to provide greater wind force. However, from the perspective of the tube beam photovoltaic cleaning robot itself, a large tube beam will increase the burden on the photovoltaic cleaning robot and the photovoltaic panel support frame, and also increase the internal surface area and cross-sectional area of ​​the tube beam. According to Bernoulli's principle: , where C is a constant. This means that the pressure inside the pipe beam is affected not only by the flow rate of the fluid, but also by the surface area of ​​the pipe beam. The larger the surface area, the lower the flow rate. Therefore, although increasing the pipe beam can provide greater wind force, it also increases the surface area inside the pipe beam, affecting the flow rate, reducing the pressure difference between the inside and outside of the pipe beam, and the dust collection efficiency may be reduced. If the pipe beam is too small, it will not work either, because an axial flow fan needs to be installed in the pipe beam. If the pipe beam is too small, it means that the small fan is smaller in selection, and the cross-sectional area of ​​the gas flow is too small. The gas density in the pipe beam will increase, so that the wind force in the pipe beam is more easily affected by the internal structure of the pipe beam, seriously damaging the wind force, and making the dust collection effect of the pipe beam poor.

[0006] The most critical issue is the lack of wind force due to the length of the tube beam. A tube beam photovoltaic cleaning robot needs to clean two photovoltaic panels at the same time. Each photovoltaic panel is about 1.7 meters long. Then the total length of the tube beam on one side of the tube beam photovoltaic cleaning robot is about 3.7 meters. If the tube beam is longer, in actual application, when the fluid in the tube beam flows, there will be a certain wind loss from the front end to the rear end of the tube beam. The longer the tube beam, the greater the wind damage. In this way, there is a flow velocity loss at the front and rear ends inside the tube beam, which makes there is a pressure difference at the front and rear ends of the internal space of the tube beam. The pressure at the front end of the tube beam is low, and the pressure at the rear end is high. The gas flows from high pressure to low pressure.

[0007] When there is a critical balance surface between the wind force from top to bottom and the high pressure from bottom to top, air flow rotation will occur in some areas inside the pipe beam, and the dust will rotate on the critical balance surface, affecting the dust suction and directional transportation effect.

[0008] In summary, the current cleaning efficiency of photovoltaic cleaning robots is low, and the swept dust falls back onto the photovoltaic panels. This secondary sedimentation reduces the cleaning efficiency and forces the photovoltaic cleaning robots to perform repetitive work. Summary of the invention

[0009] To this end, the technical problem to be solved by the present invention is to overcome the problem that traditional photovoltaic cleaning robots in the prior art usually use open rollers to sweep dust on the photovoltaic panels into the air, while the swept dust will settle on the photovoltaic panels, reducing the cleaning efficiency.

[0010] To solve the above technical problems, the present invention provides a photovoltaic cleaning robot, comprising: a tube beam, which is provided with at least one, the tube beam is provided with a walking wheel, the walking wheel is in contact with the photovoltaic panel, and the walking wheel can walk on the photovoltaic panel, the tube beam is provided with a plurality of suction holes on the lower end surface opposite to the photovoltaic panel, the plurality of suction holes are connected with the hollow cavity inside the tube beam, and the plurality of suction holes are used to inhale dust; a fan, which is arranged at one end of the tube beam in the length direction, and the fan is connected with the hollow cavity inside the tube beam, and the fan is used to form a negative pressure inside the tube beam; an exhaust port, which is arranged on the other end of the tube beam in the length direction away from the fan, and the exhaust port is connected with the hollow cavity inside the tube beam, and the exhaust port is used to discharge dust, the tube beam is parallel to the photovoltaic panel and is inclined, one end of the tube beam where the fan is located is higher than one end of the tube beam where the exhaust port is located, and the gas flow in the tube beam is along the direction from the fan to the exhaust port. The photovoltaic cleaning robot of the present invention achieves a pressure difference between the inside and outside of the pipe beam by adding an axial flow fan at the front end of the pipe beam, so as to suck dust into the through hole of the pipe beam, avoid secondary sedimentation of dust, and sweep away dust in a direction, and can adapt to adverse working conditions such as mud, water, dust, and sand.

[0011] In one embodiment of the present invention, the tube beam is composed of two tube beam bodies, and the radial cross-section of the tube beam body is "C"-shaped, the suction hole is arranged on the lower end surface of the tube beam body, and the two tube beam bodies are symmetrically buckled together.

[0012] In one embodiment of the present invention, first grooves are provided on opposite surfaces of the tube beam body, the suction hole is communicated with the first grooves, and the first grooves of the two tube beam bodies are buckled together to form an air flow channel.

[0013] In one embodiment of the present invention, a plurality of nozzle blades and a plurality of diffusion protrusions are provided on the upper end surface of the tube beam body, and the plurality of nozzle blades and the plurality of diffusion protrusions are arranged one-to-one and spaced apart, and the plurality of nozzle blades and the plurality of diffusion protrusions are all arranged on the upper end surface of the first groove, and a gas supply port is formed between the nozzle blades and the lower end surface of the first groove, and the nozzle blades and the lower end surface of the first groove form a nozzle structure for accelerating the gas flow, and the diffusion protrusion and the lower end surface of the first groove form a diffusion structure for decelerating the gas flow.

[0014] In one embodiment of the present invention, the nozzle blade includes an inclined portion and a guide portion, one end of the inclined portion is fixed on the upper end surface of the first groove, the guide portion is arranged on the lower end portion of the inclined portion, and the inclined portion is arranged toward the discharge port.

[0015] In one embodiment of the present invention, a first inclined surface and a second inclined surface are provided on the lower end surface of the diffusion protrusion, the first inclined surface is located on the side of the diffusion protrusion close to the fan, and the second inclined surface is located on the side of the diffusion protrusion close to the exhaust port, a sharp angle of transition is formed between the first inclined surface and the second inclined surface, the first inclined surface is set in the direction of the exhaust port, and the second inclined surface is set in the direction of the fan, and the space between the inclined portion and the first inclined surface forms a diffusion chamber, and the diffusion chamber is used to store and guide the rotating gas to the diffusion structure between the diffusion protrusion and the first groove.

[0016] In one embodiment of the present invention, the lower end of the inclined portion is lower than the sharp angle between the first inclined surface and the second inclined surface.

[0017] In one embodiment of the present invention, the number of the tube beams is two, and a tube seat is provided between the two tube beams. The two tube beams are located on the same straight line, and the tube seat is used to connect and conduct the two tube beams.

[0018] In one embodiment of the present invention, a brush roller is provided at the lower end of the tube beam. The brush roller is located directly below a plurality of suction holes. The brush roller is driven to rotate by a power source and is used to clean dust on the photovoltaic panel.

[0019] In one embodiment of the present invention, a dust cover is connected to the upper end of the tube beam, and the dust cover is used to prevent dust swept by the brush roller from overflowing.

[0020] The above technical solution of the present invention has the following beneficial effects compared with the prior art: The photovoltaic cleaning robot described in the present invention generates high-speed airflow by adding an axial flow fan at the front end of the cleaning robot pipe beam, opens holes at a certain interval on the pipe beam wall, and uses the difference in gas flow rate inside and outside the pipe beam to generate negative pressure, so as to suck the dust generated by cleaning into the inside of the pipe beam and transport it along the pipe beam to the tail for directional removal on the ground, thereby minimizing the secondary deposition of sand and dust on the surface of the photovoltaic module. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] In order to make the content of the present invention more clearly understood, the present invention is further described in detail below according to specific embodiments of the present invention in conjunction with the accompanying drawings, wherein Figure 1 This is a schematic diagram of the overall structure of a photovoltaic cleaning robot in a preferred embodiment of the present invention; Figure 2 This is a schematic diagram of the connection structure between the pipe beam and the fan in a preferred embodiment of the present invention; Figure 3 It is a structural schematic diagram of a tube base in a preferred embodiment of the present invention; Figure 4It is a structural schematic diagram of a tubular beam in a preferred embodiment of the present invention; Figure 5 An exploded view of a tube beam in a preferred embodiment of the present invention; Figure 6 It is a cross-sectional view of a tubular beam in a preferred embodiment of the present invention; Figure 7 The gas flow diagram of the tube beam in the preferred embodiment of the present invention; Figure 8 The pipe beam structure of the prior art in the preferred embodiment of the present invention Figure 1 ; Fig. 9 The pipe beam structure of the prior art in the preferred embodiment of the present invention Figure 2 .

[0022] Explanation of the reference numerals in the specification: pipe beam 1, suction hole 11, pipe beam body 12, first groove 121, nozzle blade 122, diffusion convex portion 123, inclined portion 124, guide portion 125, first inclined surface 126, second inclined surface 127, walking wheel 2, fan 3, exhaust port 4, gas supply port 5, diffusion chamber 6, pipe seat 7, brush roller 8, dust cover 9. DETAILED DESCRIPTION

[0023] The present invention is further described below in conjunction with the accompanying drawings and specific embodiments so that those skilled in the art can better understand the present invention and implement it, but the embodiments are not intended to limit the present invention.

[0024] Reference Figure 1 , 2 As shown, the photovoltaic cleaning robot of the present invention comprises: a pipe beam 1, which is provided with at least one, and a walking wheel 2 is provided on the pipe beam 1, and the walking wheel 2 is in contact with the photovoltaic panel, and the walking wheel 2 can walk on the photovoltaic panel, and the pipe beam 1 is provided with a plurality of suction holes 11 on the lower end surface opposite to the photovoltaic panel, and the plurality of suction holes 11 are connected with the hollow cavity inside the pipe beam 1, and the plurality of suction holes 11 are used to inhale dust; a fan 3, which is arranged at one end of the pipe beam 1 in the length direction, and the fan 3 is connected with the hollow cavity inside the pipe beam 1, and the fan 3 is used to form a negative pressure in the pipe beam 1; an exhaust port 4, which is arranged at the other end of the pipe beam 1 in the length direction away from the fan 3, and the exhaust port 4 is connected with the hollow cavity inside the pipe beam 1, and the exhaust port 4 is used to discharge dust, and the pipe beam 1 is parallel to the photovoltaic panel and is inclined, and one end of the pipe beam 1 where the fan 3 is located is higher than one end of the pipe beam 1 where the exhaust port 4 is located, and the gas in the pipe beam 1 flows along the direction from the fan 3 to the exhaust port 4. Preferably, the fan 3 is an axial flow fan.

[0025] The main truss of the photovoltaic cleaning robot adopts a hollow structure, with axial fans at one or both ends of the hollow structure; holes are opened on the truss wall, and a diffuser structure is provided in the inner cavity of the truss to improve the negative pressure dust collection effect; a high-speed airflow flows through the inner cavity of the hollow truss, with the airflow direction flowing in from the upper part of the robot and out from the lower part.

[0026] Several suction holes 11 are suction ports for creating vacuum conditions. Since there is high-speed gas flowing inside the pipe beam 1, the air pressure inside the pipe beam 1 becomes low, and a pressure difference is formed inside and outside the pipe beam 1. Therefore, the suction port forms a vacuum condition, and the dust outside the pipe beam 1 is sucked into the pipe beam 1 to achieve the function of directional dust removal. Compared with the original suction port, the suction port of the new structure is longer. The current suction port length is preferably set to 10 mm. The long suction port increases the channel length of the airflow, thereby reducing the flow and turbulence of the airflow and improving the stability of the vacuum. In addition, the long suction port can also guide the airflow into the pipe beam 1 to ensure a more uniform gas distribution, which helps to achieve a higher vacuum degree.

[0027] Reference Figure 4 , 5 As shown, the pipe beam 1 is composed of two pipe beam bodies 12, and the radial cross section of the pipe beam body 12 is "C"-shaped. The suction hole 11 is arranged on the lower end surface of the pipe beam body 12, and the two pipe beam bodies 12 are symmetrically buckled together. A first groove 121 is arranged on the opposite surface of the pipe beam body 12, and the suction hole 11 is communicated with the first groove 121. The first grooves 121 of the two pipe beam bodies 12 are buckled together to form an airflow channel.

[0028] In order to facilitate manufacturing and installation and reduce costs, the pipe beam 1 is divided into two parts, which are then connected with three bolts. Each bolt is tightened with two nuts, one nut for compression and one nut for loosening. The purpose of dividing the pipe beam 1 into two halves is to adopt the casting process and manufacture them separately, so that we can smoothly handle the internal structure of the pipe beam 1.

[0029] Reference Figure 6 , 7 As shown, a plurality of nozzle blades 122 and a plurality of diffusion protrusions 123 are provided on the upper end surface of the tube beam body 12, and the plurality of nozzle blades 122 and the plurality of diffusion protrusions 123 are arranged one-to-one at intervals, and the plurality of nozzle blades 122 and the plurality of diffusion protrusions 123 are all arranged on the upper end surface of the first groove 121, and a gas supply port 5 is formed between the nozzle blades 122 and the lower end surface of the first groove 121, and the nozzle blades 122 and the lower end surface of the first groove 121 form a nozzle structure for accelerating the gas flow, and the diffusion protrusions 123 and the lower end surface of the first groove 121 form a diffusion structure for decelerating the gas flow.

[0030] The gas supply port 5 is a compressed air supply port, which compresses the air in the pipe beam 1 again, reduces the cross-sectional area of ​​the gas flow, and accelerates the flow of the gas, so that the pressure difference between the inside and outside of the pipe beam 1 gradually increases, optimizes the vacuum generation effect, and enhances the dust adsorption capacity.

[0031] In the above structure, the nozzle blade 122 includes an inclined portion 124 and a guide portion 125, one end of the inclined portion 124 is fixed on the upper end surface of the first groove 121, and the guide portion 125 is arranged on the lower end of the inclined portion 124, and the inclined portion 124 is arranged toward the discharge port 4.

[0032] When the gas flows to the nozzle structure, the gas flow cross-sectional area is the smallest, the air flow rate is the fastest, the pressure difference between the inside and outside of the pipe beam 1 is the largest, the vacuum effect is the best, and the dust collection efficiency is the highest. Since the gas is accelerated every time it passes through the nozzle structure, a local vacuum is formed in the suction hole 11 on the pipe beam 1 in front of the nozzle. Compared with the previous pipe beam structure, the vacuum effect is better. At the same time, it alleviates to a certain extent the problem of insufficient wind force from top to bottom due to the long pipe beam structure. In reality, the distance of the pipe beam structure can be appropriately lengthened according to the length of the photovoltaic panel without worrying about the airflow rotation problem caused by the excessive length of the pipe beam.

[0033] In the above structure, a first inclined surface 126 and a second inclined surface 127 are provided on the lower end surface of the diffusion protrusion 123, the first inclined surface 126 is located on the side of the diffusion protrusion 123 close to the fan 3, and the second inclined surface 127 is located on the side of the diffusion protrusion 123 close to the exhaust port 4, and a sharp angle of transition is formed between the first inclined surface 126 and the second inclined surface 127, the first inclined surface 126 is set in the direction of the exhaust port 4, and the second inclined surface 127 is set in the direction of the fan 3, and the space between the inclined portion 124 and the first inclined surface 126 forms a diffusion chamber 6, and the diffusion chamber 6 is used to store and guide the rotating gas to the diffusion structure between the diffusion protrusion 123 and the first groove 121.

[0034] The diffusion structure plays a role in regulating gas flow and pressure. Since the gas will be affected by friction and flow resistance during the flow process, if the cross-sectional area of ​​the gas is still reduced or unchanged after the gas is accelerated at the nozzle structure, the airflow density will increase, and the airflow will be more easily affected by the shape of the object and friction, and the gas flow damage will increase. In order to effectively solve the problem of excessive wind loss caused by the small internal space of the above-mentioned tube-beam structure, we deliberately increase the cross-sectional area of ​​the gas flow, so that the gas flow performs a deceleration motion after acceleration, and then accelerates and decelerates again. Reciprocating cyclic motion, starting from the local part of the tube beam 1, the diffusion structure does slow down the gas flow speed slightly, but starting from the integrity of the tube beam, the addition of the diffuser structure does effectively reduce the wind loss. Compared with the original tube beam structure, the length of the tube beam 1 can be effectively lengthened at the same wind speed.

[0035] Since we have added a diffusion structure in the pipe beam, the wind speed is slightly reduced. At the same time, the high-speed gas flowing through the nozzle structure will form low pressure, and high pressure will be formed at the diffusion structure, so that there are alternating high-pressure and low-pressure areas in the pipe beam 1. If the pipe beam 1 is too long and the wind force is insufficient, there is a balance with the high pressure. In this way, the diffusion area will be the area with the greatest possibility of airflow rotation. In order to alleviate the negative impact of the diffuser, we have added a diffusion chamber 6 in the pipe beam 1. If airflow rotation occurs in the diffusion area, the rotating airflow will carry the dust into the diffusion chamber 6. The curved crossbeam of the diffusion chamber 6 will prevent the rotating airflow from carrying a small amount of dust out of several suction holes 11. At the same time, the high-speed gas ejected from the nozzle structure will transport it forward, effectively ensuring the function of directional dust removal.

[0036] In the above structure, the lower end of the inclined portion 124 is lower than the sharp angle between the first inclined surface 126 and the second inclined surface 127 .

[0037] Reference Figure 3 As shown, the number of the tube beams 1 is two, and a tube seat 7 is provided between the two tube beams 1 . The two tube beams 1 are located on the same straight line, and the tube seat 7 is used to connect and conduct the two tube beams 1 .

[0038] Reference Figure 1 As shown, a brush roller 8 is provided at the lower end of the pipe beam 1, and the brush roller 8 is located directly below a plurality of suction holes 11. The brush roller 8 is driven to rotate by a power source, and the brush roller 8 is used to clean dust on the photovoltaic panel. A dust cover 9 is connected to the upper end of the pipe beam 1, and the dust cover 9 is used to prevent the dust cleaned by the brush roller 8 from overflowing.

[0039] The working principle of the photovoltaic cleaning robot of the present invention is: The movement of the walking wheel 2 on the photovoltaic panel drives the movement of the photovoltaic cleaning robot. During the movement, the dust attached to the photovoltaic panel is swept up by the rotation of the brush roller 8. In order to prevent the dust from flying away quickly, we specially installed a dust cover 9, and connected the pipe beam 1 and the dust cover 9 with a connecting sleeve to support the dust cover. At the same time, the two pipe beams 1 are connected and sealed together with the pipe seat 7 to avoid gas leakage. In order to reduce the secondary sedimentation of dust, we have structurally modified the inside of the pipe beam 1, and at the same time, threaded holes are drilled at the front end of the pipe beam 1 to install an axial flow fan, so that negative pressure is formed inside and outside the pipe beam 1, which will drive the dust into the several suction holes 11 of the pipe beam 1 and be discharged from the exhaust port 4 to achieve directional dust removal.

[0040] The photovoltaic cleaning robot of the present invention tries to avoid the large-scale dispersion of dust. An axial flow fan is added to the front end of the pipe beam 1 under the dust cover 9. The wind speed difference between the inside and outside of the pipe beam 1 under the dust cover 9 creates a pressure difference between the inside and outside of the pipe beam 1. When the dust approaches the through hole of the pipe beam under the dust cover 9, due to the pressure difference between the inside and outside of the pipe beam 1, the dust floating outside is adsorbed into the several suction holes 11 in the dust cover 9. The dust is blown to the open interface discharge port 4 at the other end of the pipe beam 1 through the axial flow fan. The inhaled dust is uniformly collected and discharged from the tail, so as to achieve directional dust removal, avoid secondary dust sedimentation, and greatly improve the operating efficiency of the photovoltaic cleaning robot.

[0041] Obviously, the above embodiments are merely examples for clear explanation and are not intended to limit the implementation methods. For those skilled in the art, other different forms of changes or modifications can be made based on the above description. It is not necessary and impossible to list all the implementation methods here. The obvious changes or modifications derived from these are still within the protection scope of the invention.

Claims

1. A photovoltaic cleaning robot, characterized in that: include: A pipe beam, which is provided with at least one, is provided with a running wheel, the running wheel is in contact with the photovoltaic panel, and the running wheel can run on the photovoltaic panel, and a plurality of suction holes are provided on the lower end surface of the pipe beam opposite to the photovoltaic panel, the plurality of suction holes are communicated with the hollow cavity inside the pipe beam, and the plurality of suction holes are used to suck in dust; A fan is arranged at one end of the tube beam in the length direction, and the fan is connected to the hollow cavity inside the tube beam, and the fan is used to form a negative pressure inside the tube beam; An exhaust port is arranged on the other end of the pipe beam away from the fan in the length direction, and the exhaust port is connected to the hollow cavity inside the pipe beam. The exhaust port is used to discharge dust. The pipe beam is parallel to the photovoltaic panel and is inclined. One end of the pipe beam where the fan is located is higher than one end of the pipe beam where the exhaust port is located. The gas in the pipe beam flows along the direction from the fan to the exhaust port.

2. The photovoltaic cleaning robot according to claim 1, characterized in that: The tube beam is composed of two tube beam bodies, and the radial cross section of the tube beam body is "C"-shaped. The suction hole is arranged on the lower end surface of the tube beam body, and the two tube beam bodies are symmetrically buckled together.

3. The photovoltaic cleaning robot according to claim 2, characterized in that: A first groove is provided on the opposite surface of the tube beam body, the suction hole is communicated with the first groove, and the first grooves of the two tube beam bodies are buckled together to form an air flow channel.

4. The photovoltaic cleaning robot according to claim 3, characterized in that: A plurality of nozzle blades and a plurality of diffusion protrusions are provided on the upper end surface of the tube beam body, and the plurality of nozzle blades and the plurality of diffusion protrusions are arranged in a one-to-one interval, and the plurality of nozzle blades and the plurality of diffusion protrusions are all arranged on the upper end surface of the first groove, and a gas supply port is formed between the nozzle blades and the lower end surface of the first groove, and the nozzle blades and the lower end surface of the first groove form a nozzle structure for accelerating the flow of gas, and the diffusion protrusion and the lower end surface of the first groove form a diffusion structure for decelerating the flow of gas.

5. The photovoltaic cleaning robot according to claim 4, characterized in that: The nozzle blade includes an inclined portion and a guide portion, one end of the inclined portion is fixed on the upper end surface of the first groove, the guide portion is arranged on the lower end portion of the inclined portion, and the inclined portion is arranged toward the discharge port.

6. The photovoltaic cleaning robot according to claim 5, characterized in that: A first inclined surface and a second inclined surface are provided on the lower end surface of the diffusion protrusion, the first inclined surface is located on the side of the diffusion protrusion close to the fan, and the second inclined surface is located on the side of the diffusion protrusion close to the exhaust port, a sharp angle of transition is formed between the first inclined surface and the second inclined surface, the first inclined surface is arranged in the direction of the exhaust port, and the second inclined surface is arranged in the direction of the fan, the space between the inclined portion and the first inclined surface forms a diffusion chamber, and the diffusion chamber is used to store and guide the rotating gas to the diffusion structure between the diffusion protrusion and the first groove.

7. The photovoltaic cleaning robot according to claim 6, characterized in that: The lower end of the inclined portion is lower than the sharp angle between the first inclined surface and the second inclined surface.

8. The photovoltaic cleaning robot according to claim 1, characterized in that: The number of the pipe beams is two, and a pipe seat is provided between the two pipe beams. The two pipe beams are located on the same straight line, and the pipe seat is used to connect and conduct the two pipe beams.

9. The photovoltaic cleaning robot according to claim 1, characterized in that: A brush roller is provided at the lower end of the tube beam. The brush roller is located directly below a plurality of suction holes. The brush roller is driven to rotate by a power source. The brush roller is used to clean dust on the photovoltaic panel.

10. The photovoltaic cleaning robot according to claim 9, characterized in that: The upper end of the tube beam is connected with a dust cover, and the dust cover is used to prevent the dust swept by the brush roller from overflowing.

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