Robot for cleaning large-dip-angle photovoltaic panel

Abstract

The invention discloses a robot for cleaning a large-dip-angle photovoltaic panel, belongs to the technical field of photovoltaic panel cleaning, and aims to solve the problem that a cleaning robot cannot clean the large-dip-angle photovoltaic panel. The robot comprises a robot body and a shell arranged on the top face of the robot body, and a battery pack is arranged in the robot body; visual probes are arranged on the edges of the two sides of the top face of the shell correspondingly, a cleaning assembly is arranged on the side wall of the front end of the robot body, a pair of bionic suction cups are arranged on the bottom face of the robot body, advancing assemblies are arranged on the outer walls of the two sides of the robot body correspondingly, and telescopic assemblies are arranged in inner cavities of the advancing assemblies. According to the photovoltaic panel cleaning robot, the supporting performance can be adjusted in real time according to the actual inclination angle of a photovoltaic panel, so that the cleaning robot can conduct cleaning operation on the photovoltaic panels with different inclination angles.

Description

Technical Field

[0001] The invention relates to the technical field of photovoltaic panel cleaning, in particular to a robot used for cleaning photovoltaic panels with large inclination angles. Background Art

[0002] Photovoltaic power generation devices use the photovoltaic effect of semiconductor materials to absorb natural solar energy and convert it into electrical energy. Photovoltaic panels are one of the core components of photovoltaic power generation devices. Photovoltaic panels are installed in outdoor environments all year round, and inevitably a large amount of dust and foreign matter will accumulate on the surface of the panels. If these dust and foreign matter are not cleaned in time, the photovoltaic panels' absorption efficiency of solar energy will be reduced. Due to the popularity of distributed photovoltaic power generation, many residential buildings now use photovoltaic power generation devices. Most of the photovoltaic panels installed on the roofs of residential buildings have a large inclination angle. Ordinary photovoltaic panel cleaning robots cannot clean photovoltaic panels with large inclination angles.

[0003] Chinese patent CN220475711 U announces an intelligent cleaning robot for photovoltaic panels, including a walking mechanism, a supporting mechanism arranged on the top of the walking mechanism for support, a telescopic mechanism arranged on the top of the supporting mechanism for telescopic adjustment, and a cleaning mechanism arranged at the tail end of the telescopic mechanism for cleaning, wherein the cleaning mechanism is provided with a cleaning part and a driving part for driving the cleaning part to move, the cleaning part is provided with a cleaning roller for fixing, a transmission part for transmission and a cleaning block for cleaning, and the transmission part is provided with a rotating rod fixed on the cleaning roller and a servo motor for driving.

[0004] The above-mentioned prior art announced intelligent cleaning robot for photovoltaic panels, through the setting of the cleaning mechanism, can improve the cleaning effect of the photovoltaic panel by self-rotation while the cleaning block and the cleaning roller revolve. However, when encountering a photovoltaic panel with a large inclination angle, the above-mentioned intelligent cleaning robot for photovoltaic panels cannot clean the photovoltaic panel with a large inclination angle. The reason is as follows: the above-mentioned intelligent cleaning robot for photovoltaic panels has insufficient support and adsorption on the photovoltaic panel with a large inclination angle, which causes the intelligent cleaning robot for photovoltaic panels to slide off the photovoltaic panel with a large inclination angle, and thus cannot clean the photovoltaic panel with a large inclination angle.

[0005] In view of the above problems, a robot for cleaning photovoltaic panels with large inclination angles is proposed. Summary of the invention

[0006] The purpose of the present invention is to provide a robot for cleaning photovoltaic panels with large inclinations. By adopting this device to work, the problem that the intelligent cleaning robot in the above background has insufficient support and adsorption on photovoltaic panels with large inclinations, which causes the intelligent cleaning robot to slide off the photovoltaic panels with large inclinations, and then cannot clean the photovoltaic panels with large inclinations is solved.

[0007] To achieve the above-mentioned purpose, the present invention provides the following technical solutions: a robot for cleaning photovoltaic panels with large inclination angles, comprising a robot main body and a shell arranged on the top surface of the robot main body, a battery pack is arranged inside the robot main body, the upper end of the battery pack is arranged through the shell, visual probes are respectively arranged at the two side edges of the top surface of the shell, a cleaning component is arranged on the side wall of the front end of the robot main body, a pair of bionic suction cups is arranged on the bottom surface of the robot main body, traveling components are respectively arranged on the two side outer walls of the robot main body, a telescopic component is arranged in the inner cavity of the traveling component, a contraction and expansion component and a plurality of support components are respectively arranged in the inner cavity of the telescopic component, and the plurality of support components are rotatably connected to the contraction and expansion component.

[0008] Furthermore, the traveling assembly includes a first pulley, a second pulley and a third pulley, and the first pulley, the second pulley and the third pulley are arranged in a triangle, and the inner cavities of the second pulley and the third pulley are provided with a contraction and expansion assembly and a plurality of support assemblies, and the first pulley, the second pulley and the third pulley are connected by a crawler belt for transmission.

[0009] Furthermore, the telescopic assembly includes an electric telescopic column fixedly installed in the inner cavity of the second pulley and a hollow cylinder slidably installed in the inner cavity of the second pulley, and the hollow cylinder is fixedly connected to the output end of the electric telescopic column.

[0010] Furthermore, the contraction and expansion component includes a motor fixedly mounted on the side wall of the inner cavity of the hollow cylinder, the output end of the motor is fixedly connected to a disc, the disc is rotatably mounted through the middle of the protective shell, the protective shell and the inner cavity of the hollow cylinder are fixedly connected by a number of fixed blocks, a number of connecting rods are slidably mounted on the side wall of the protective shell, cylinders are fixedly mounted on the side walls of the connecting rods, a number of arc-shaped through grooves are opened on the disc, and the cylinders are correspondingly arranged through the inner cavity of the arc-shaped through grooves.

[0011] Furthermore, the supporting assembly includes a U-shaped frame fixedly mounted on the peripheral wall of the inner cavity of the hollow cylinder and a rotating rod rotatably mounted on the U-shaped frame, the rotating rod is rotatably connected to the connecting rod at one end close to the U-shaped frame, and a connecting piece is rotatably mounted on the end of the rotating rod away from the U-shaped frame, and an anti-slip assembly is fixedly mounted on the lower end of the connecting piece.

[0012] Furthermore, the anti-slip component includes an outer shell fixedly mounted on the lower end of the connecting member, a first chamber is provided on the bottom surface of the outer shell, an inner cavity of the first chamber is filled with an inert gas, a second chamber and a third chamber are respectively provided on the side walls at both ends of the outer shell, the first chamber is connected to the second chamber and the third chamber through air passages, extension components are respectively slidably arranged in the inner cavities of the second chamber and the third chamber, an anti-slip plate is slidably installed in the inner cavity of the first chamber, and the top surface of the anti-slip plate is connected to the top surface of the inner cavity of the outer shell through a buffer column.

[0013] Furthermore, the bottom surface of the anti-slip plate is provided with a rough surface and is made of a material with good anti-slip performance.

[0014] Furthermore, the extension component includes an extension plate, which is elastically connected to the second chamber and the third chamber respectively through a first spring, and a plurality of deep grooves are provided on the bottom surface of the extension plate, and telescopic plates are slidably embedded in the inner cavities of the plurality of deep grooves.

[0015] Furthermore, the telescopic plate includes a plate body slidably installed in the inner cavity of the deep slide groove, and the plate body is elastically connected to the inner wall of the inner cavity of the deep slide groove through a second spring.

[0016] Furthermore, the bottom surface of the plate body is provided with an inclined surface, and when the extension plate drives the telescopic plate to retract into the inner cavity of the second chamber and the third chamber, the plate body can retract into the inner cavity of the deep slide groove under the coordinated setting of the inclined surface and the second spring.

[0017] Compared with the prior art, the present invention has the following beneficial effects:

[0018] When the bionic suction cup fails and has insufficient suction, the telescopic component is started to extend to the outside of the traveling component, the contraction and expansion component starts to operate, and drives the support component to contact the photovoltaic panel, thereby supporting the cleaning robot as a whole, so that the cleaning robot will not slide off the photovoltaic panel, reducing the probability of collision and damage between the cleaning robot and the photovoltaic panel; the support component will enhance the anti-skid ability of the traveling component when it moves forward, even if the bionic suction cup fails and has insufficient suction, the cleaning robot can still move stably without slipping on the photovoltaic panel, and can still achieve the effect of cleaning operations on photovoltaic panels with large inclinations; when use is completed, the electric telescopic column is started to retract, and the contraction and expansion component and the support component can be driven to the second pulley through the hollow cylinder. The interior is retracted, and such a setting not only saves space, but also protects the supporting components. By adjusting the counterclockwise rotation angle of the disc, the compression degree of the inert gas can be controlled, and then the extension length of the extension component can be controlled, and finally the contact area of ​​the photovoltaic panel can be adjusted, so that the cleaning robot can adjust the support in real time according to the actual inclination angle of the photovoltaic panel. Through such a setting, not only can the cleaning robot perform cleaning operations on photovoltaic panels with different inclinations, but also the flexibility of use is better. Each telescopic plate operates independently and does not affect each other. Compared with setting the telescopic plate as a whole, the contact area between the telescopic plate and the photovoltaic panel can be flexibly adjusted, so as to obtain different degrees of support force. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 It is a bottom structure diagram of the present invention;

[0020] Figure 2 It is a schematic diagram of the overall structure of the present invention;

[0021] Figure 3 For the present invention Figure 2 A magnified image of point A;

[0022] Figure 4 It is a cross-sectional schematic diagram of the telescopic assembly, the contraction-expansion assembly and the support assembly of the present invention;

[0023] Figure 5 For the present invention Figure 4 The enlarged view of point B;

[0024] Figure 6 It is a disassembly schematic diagram of the telescopic assembly, the contraction and expansion assembly and the support assembly of the present invention;

[0025] Figure 7 It is a schematic diagram of the connection relationship between the contraction and expansion assembly and the support assembly of the present invention;

[0026] Figure 8 It is a disassembly schematic diagram of the contraction and expansion assembly of the present invention;

[0027] Fig. 9 It is a schematic diagram of the three-dimensional structure of the support assembly of the present invention;

[0028] Fig.10 is a cross-sectional schematic diagram of the anti-slip assembly of the present invention;

[0029] Fig.11 It is a schematic diagram of the three-dimensional structure of the extension component of the present invention;

[0030] Fig.12 It is a schematic diagram of disassembling the extension assembly of the present invention.

[0031] In the figure: 1, shell; 2, visual probe; 3, battery pack; 4, robot body; 5, cleaning component; 6, bionic suction cup; 7, travel component; 71, first pulley; 72, second pulley; 73, third pulley; 74, crawler; 8, telescopic component; 81, electric telescopic column; 82, hollow cylinder; 9, contraction and expansion component; 91, motor; 92, disc; 93, protective shell; 94, connecting rod; 95, cylinder; 96, arc groove; 97, fixing block; 10, support component; 101 , U-shaped frame; 102, rotating rod; 103, anti-skid component; 1031, shell; 1032, first chamber; 1033, second chamber; 1034, third chamber; 1035, airway; 1036, anti-skid plate; 1037, buffer column; 1038, extension component; 10381, extension plate; 10382, first spring; 10383, deep slide groove; 10384, telescopic plate; 103841, plate body; 103842, second spring; 104, connecting piece. DETAILED DESCRIPTION

[0032] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0033] In order to solve the technical problem that when the bionic suction cup 6 fails and the suction force is insufficient, the cleaning robot can still move stably without slipping on the photovoltaic panel and can still perform cleaning operations on the photovoltaic panel with a large inclination angle, such as Figure 1-9 As shown, the following preferred technical solutions are provided:

[0034] A robot for cleaning photovoltaic panels with a large inclination angle comprises a robot body 4 and a shell 1 arranged on the top surface of the robot body 4. The purpose of setting the shell 1 is not only for aesthetics, but also to protect the robot body 4 and other components. A battery pack 3 is arranged inside the robot body 4 for providing power output. The upper end of the battery pack 3 is arranged through the shell 1. Such an arrangement is convenient for charging or replacing the battery pack 3. Visual probes 2 are respectively arranged at the edges of both sides of the top surface of the shell 1. The visual probes 2 can not only detect the surrounding environment, but also identify obstacles on the photovoltaic panel. A cleaning component 5 is arranged on the side wall at the front end of the robot body 4 for cleaning dust and foreign matter on the photovoltaic panel. A pair of bionic suction cups 6 are arranged on the bottom surface of the robot body 4. The bionic suction cups 6 can generate suction to adsorb the cleaning robot as a whole on the photovoltaic panel, so that the cleaning robot can perform cleaning operations on photovoltaic panels with a large inclination angle.

[0035] Traveling components 7 are respectively arranged on the outer walls on both sides of the robot body 4. The traveling components 7 are mainly used to realize the functions of moving forward, backward and turning of the cleaning robot. A telescopic component 8 is arranged in the inner cavity of the traveling component 7. The inner cavity of the telescopic component 8 is respectively provided with a contraction and expansion component 9 and a plurality of support components 10. The plurality of support components 10 are rotatably connected with the contraction and expansion component 9. When the cleaning robot is cleaning a photovoltaic panel with a large inclination angle, if the bionic suction cup 6 fails and the suction force is insufficient, or the suction force of the bionic suction cup 6 is insufficient due to some other reasons, at this time, the telescopic component 8 is started to extend to the outside of the traveling component 7, and then the contraction and expansion component 9 is started to operate. During the operation of the contraction and expansion component 9, the support component 10 will be driven to contact with the photovoltaic panel, thereby supporting the cleaning robot as a whole, so that the cleaning robot will not slip off the photovoltaic panel.

[0036] The traveling assembly 7 comprises a first pulley 71, a second pulley 72 and a third pulley 73, and the first pulley 71, the second pulley 72 and the third pulley 73 are arranged in a triangle, and the inner cavities of the second pulley 72 and the third pulley 73 are provided with a contraction and expansion assembly 9 and a plurality of support assemblies 10, and the first pulley 71, the second pulley 72 and the third pulley 73 are connected by a crawler track 74 for transmission. Through the above-mentioned arrangement, the traveling assembly 7 is arranged in a triangular shape as a whole, so that the cleaning robot has a better obstacle-crossing ability.

[0037] The telescopic assembly 8 includes an electric telescopic column 81 fixedly mounted in the inner cavity of the second pulley 72 and a hollow cylinder 82 slidably mounted in the inner cavity of the second pulley 72 , and the hollow cylinder 82 is fixedly connected to the output end of the electric telescopic column 81 .

[0038] The contraction and expansion component 9 includes a motor 91 fixedly mounted on the side wall of the inner cavity of the hollow cylinder 82, and the output end of the motor 91 is fixedly connected to a disc 92, which is rotatably mounted through the middle of a protective shell 93, and the protective shell 93 and the inner cavity of the hollow cylinder 82 are fixedly connected by a plurality of fixed blocks 97, and a plurality of connecting rods 94 are slidably mounted on the side wall of the protective shell 93, and a plurality of cylinders 95 are fixedly mounted on the side walls of the connecting rods 94, and a plurality of arc-shaped through grooves 96 are opened on the disc 92, and the cylinders 95 are correspondingly arranged through the inner cavity of the arc-shaped through grooves 96.

[0039] The support assembly 10 includes a U-shaped frame 101 fixedly mounted on the inner wall of the hollow cylinder 82 and a rotating rod 102 rotatably mounted on the U-shaped frame 101. The end of the rotating rod 102 close to the U-shaped frame 101 is rotatably connected to the connecting rod 94, and the end of the rotating rod 102 away from the U-shaped frame 101 is rotatably mounted with a connecting piece 104, and the lower end of the connecting piece 104 is fixedly mounted with an anti-slip assembly 103.

[0040] Specifically, when the cleaning robot is cleaning a photovoltaic panel with a large inclination angle, if the bionic suction cup 6 fails and the suction force is insufficient, the electric telescopic column 81 is started and extended. During the extension process, the electric telescopic column 81 drives the contraction and expansion component 9 and the support component 10 to extend to the outside of the second pulley 72 through the hollow cylinder 82 until the hollow cylinder 82 reaches the edge of the inner cavity of the second pulley 72. The electric telescopic column 81 stops extending. At this time, the motor 91 is started to operate, and the motor 91 begins to drive the disc 92 to rotate counterclockwise. Under the cooperation of the cylinder 95 and the arc-shaped through groove 96, the connecting rod 94 will retract into the inside of the protective shell 93. During the retraction process, the connecting rod 94 will drive The rotating rod 102 rotates on the U-shaped frame 101, so that the anti-skid component 103 contacts the photovoltaic panel, which supports the cleaning robot as a whole and prevents the cleaning robot from sliding off the photovoltaic panel, reducing the probability of collision damage between the cleaning robot and the photovoltaic panel. The setting of the support component 10 will not affect the normal rotation of the second pulley 72 and the third pulley 73. On the contrary, the support component 10 will enhance the anti-skid ability of the traveling component 7 when it moves forward. Even if the bionic suction cup 6 fails and the suction force is insufficient, the cleaning robot can still move stably without slipping on the photovoltaic panel, and can still achieve the effect of the cleaning robot performing cleaning operations on photovoltaic panels with large inclinations.

[0041] When the suction force of the bionic suction cup 6 is restored, the motor 91 is started to rotate clockwise, and the connecting rod 94 will extend to the outside of the protective shell 93. At this time, the connecting rod 94 will drive the anti-slip component 103 to leave the photovoltaic panel through the rotating rod 102 and the connecting piece 104, and then the electric telescopic column 81 is started to retract, and the contraction and expansion component 9 and the support component 10 can be driven to retract to the inside of the second pulley 72 through the hollow cylinder 82. This arrangement not only saves space, but also protects the support component 10.

[0042] In order to solve the problem that the photovoltaic panel has a large inclination angle when the bionic suction cup 6 is operating normally, a stronger supporting technology is needed, such as Figure 1 , Figure 4 , Figure 6-8 and Figure 10-12 As shown, the following preferred technical solutions are provided:

[0043] The anti-slip component 103 includes a shell 1031 fixedly mounted on the lower end of the connecting member 104, a first chamber 1032 is provided on the bottom surface of the shell 1031, an inner cavity of the first chamber 1032 is filled with inert gas, a second chamber 1033 and a third chamber 1034 are respectively provided on the side walls at both ends of the shell 1031, the first chamber 1032 is connected to the second chamber 1033 and the third chamber 1034 through air passages 1035, extension components 1038 are respectively slidably arranged in the inner cavities of the second chamber 1033 and the third chamber 1034, an anti-slip plate 1036 is slidably installed in the inner cavity of the first chamber 1032, and the top surface of the anti-slip plate 1036 is connected to the top surface of the inner cavity of the shell 1031 through a buffer column 1037.

[0044] The bottom surface of the anti-slip plate 1036 is rough and made of a material with good anti-slip performance.

[0045] The extension assembly 1038 includes an extension plate 10381, which is elastically connected to the second chamber 1033 and the third chamber 1034 respectively through a first spring 10382. A plurality of deep sliding grooves 10383 are provided on the bottom surface of the extension plate 10381, and telescopic plates 10384 are slidably embedded in the inner cavities of the plurality of deep sliding grooves 10383.

[0046] The telescopic plate 10384 includes a plate body 103841 slidably installed in the inner cavity of the deep sliding groove 10383, and the plate body 103841 is elastically connected to the inner wall of the inner cavity of the deep sliding groove 10383 through a second spring 103842.

[0047] The bottom surface of the plate body 103841 is provided with an inclined surface. When the extension plate 10381 drives the telescopic plate 10384 to retract into the inner cavity of the second chamber 1033 and the third chamber 1034, the plate body 103841 can retract into the inner cavity of the deep slide groove 10383 under the coordinated setting of the inclined surface and the second spring 103842.

[0048] Specifically, when the cleaning robot is cleaning a photovoltaic panel with a large inclination angle, if the bionic suction cup 6 fails and the suction force is insufficient, the anti-skid plate 1036 will contact the surface of the photovoltaic panel. Since the bottom surface of the anti-skid plate 1036 is rough and made of material with good anti-slip properties, the cleaning robot will not slip on the photovoltaic panel, thereby providing good support for the cleaning robot.

[0049] Furthermore, when the bionic suction cup 6 is operating normally, when the inclination angle of the photovoltaic panel is too large and stronger support is required, at this time, the motor 91 can drive the disc 92 to rotate counterclockwise at a larger angle. This is because the larger the counterclockwise rotation angle of the disc 92 is, the greater the distance that the connecting rod 94 retracts into the protective shell 93, so that the rotating rod 102 rotates at a larger angle, and the anti-skid component 103 as a whole applies a greater pressure to the photovoltaic panel. When the pressure is greater than the supporting force of the buffer column 1037 on the anti-skid plate 1036, the anti-skid plate 1036 will retract into the inner cavity of the first chamber 1032 and compress the inert gas in the inner cavity of the first chamber 1032. The compressed inert gas will enter the second chamber 1033 and the first chamber 1032 through the airway 1035 respectively. In the inner cavity of the third chamber 1034, the extension component 1038 extends to the outside of the second chamber 1033 and the third chamber 1034, thereby increasing the contact area with the photovoltaic panel and obtaining greater support. Combined with the bionic suction cup 6, it is capable of cleaning photovoltaic panels with large inclination angles. By simply adjusting the counterclockwise rotation angle of the disc 92, the compression degree of the inert gas can be controlled, and then the extension length of the extension component 1038 can be controlled, and finally the contact area of ​​the photovoltaic panel can be adjusted, so that the cleaning robot can adjust the support in real time according to the actual inclination angle of the photovoltaic panel. Through such a setting, not only can the cleaning robot perform cleaning operations on photovoltaic panels with different inclination angles, but also the flexibility of use is better.

[0050] Furthermore, when the gas pressure of the inert gas is greater than the elastic force of the first spring 10382, the extension plate 10381 will drive the telescopic plate 10384 to extend to the outside of the second chamber 1033 and the third chamber 1034. When the plate body 103841 passes over the edges of the second chamber 1033 and the third chamber 1034, under the elastic force of the second spring 103842, the plate body 103841 will extend to the outside of the deep slide groove 10383 and contact the photovoltaic panel, thereby increasing the contact area with the photovoltaic panel and obtaining better support. Since each telescopic plate 10384 operates independently and does not affect each other, compared with setting the telescopic plate 10384 as a whole piece, the contact area between the telescopic plate 10384 and the photovoltaic panel can be flexibly adjusted to obtain different degrees of support.

[0051] It should be noted that, in this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device.

[0052] Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A robot for cleaning photovoltaic panels at a large inclination angle, comprising a robot body (4) and a shell (1) arranged on the top surface of the robot body (4), a battery pack (3) is arranged inside the robot body (4), the upper end of the battery pack (3) is arranged through the shell (1), visual probes (2) are respectively arranged at the two side edges of the top surface of the shell (1), a cleaning component (5) is arranged on the side wall of the front end of the robot body (4), and a pair of bionic suction cups (6) are arranged on the bottom surface of the robot body (4), characterized in that: Traveling components (7) are respectively arranged on the outer walls on both sides of the robot body (4); a telescopic component (8) is arranged in the inner cavity of the traveling component (7); a contraction and expansion component (9) and a plurality of support components (10) are respectively arranged in the inner cavity of the telescopic component (8); and the plurality of support components (10) are rotatably connected to the contraction and expansion components (9).

2. A robot for cleaning photovoltaic panels at large inclination angles according to claim 1, characterized in that: The traveling assembly (7) comprises a first pulley (71), a second pulley (72) and a third pulley (73), and the first pulley (71), the second pulley (72) and the third pulley (73) are arranged in a triangle, and the inner cavities of the second pulley (72) and the third pulley (73) are provided with a contraction and expansion assembly (9) and a plurality of support assemblies (10), and the first pulley (71), the second pulley (72) and the third pulley (73) are connected in transmission through a crawler belt (74).

3. A robot for cleaning photovoltaic panels at large inclination angles according to claim 2, characterized in that: The telescopic assembly (8) comprises an electric telescopic column (81) fixedly mounted in the inner cavity of the second pulley (72) and a hollow cylinder (82) slidably mounted in the inner cavity of the second pulley (72), and the hollow cylinder (82) is fixedly connected to the output end of the electric telescopic column (81).

4. A robot for cleaning photovoltaic panels at large inclination angles according to claim 3, characterized in that: The contraction and expansion assembly (9) comprises a motor (91) fixedly mounted on the side wall of the inner cavity of the hollow cylinder (82); the output end of the motor (91) is fixedly connected to a disc (92); the disc (92) is rotatably mounted through the middle of a protective shell (93); the protective shell (93) and the inner cavity of the hollow cylinder (82) are fixedly connected via a plurality of fixed blocks (97); a plurality of connecting rods (94) are slidably mounted on the side wall of the protective shell (93); cylinders (95) are fixedly mounted on the side walls of the plurality of connecting rods (94); a plurality of arc-shaped through grooves (96) are provided on the disc (92); and the cylinders (95) are correspondingly arranged through the inner cavity of the arc-shaped through grooves (96).

5. A robot for cleaning photovoltaic panels at large inclination angles according to claim 4, characterized in that: The support assembly (10) comprises a U-shaped frame (101) fixedly mounted on the inner wall of the hollow cylinder (82) and a rotating rod (102) rotatably mounted on the U-shaped frame (101); one end of the rotating rod (102) close to the U-shaped frame (101) is rotatably connected to the connecting rod (94); one end of the rotating rod (102) away from the U-shaped frame (101) is rotatably mounted with a connecting piece (104); and the lower end of the connecting piece (104) is fixedly mounted with an anti-slip assembly (103).

6. A robot for cleaning photovoltaic panels at large inclination angles according to claim 5, characterized in that: The anti-slip assembly (103) comprises a shell (1031) fixedly mounted at the lower end of the connecting member (104); a first chamber (1032) is provided on the bottom surface of the shell (1031); an inner cavity of the first chamber (1032) contains an inert gas; a second chamber (1033) and a third chamber (1034) are respectively provided on the side walls at both ends of the shell (1031); the first chamber (1032) and the second chamber (1033) and the third chamber (1034) are respectively provided. The third chambers (1034) are connected to each other via air passages (1035), extension components (1038) are slidably arranged in the inner cavities of the second chamber (1033) and the third chamber (1034), an anti-slip plate (1036) is slidably installed in the inner cavity of the first chamber (1032), and the top surface of the anti-slip plate (1036) is connected to the top surface of the inner cavity of the shell (1031) via a buffer column (1037).

7. A robot for cleaning photovoltaic panels at large inclination angles according to claim 6, characterized in that: The bottom surface of the anti-slip plate (1036) is provided with a rough surface and is made of a material with good anti-slip performance.

8. The robot for cleaning photovoltaic panels at large inclination angles according to claim 6, characterized in that: The extension assembly (1038) includes an extension plate (10381), and the extension plate (10381) is elastically connected to the second chamber (1033) and the third chamber (1034) respectively through a first spring (10382). A plurality of deep sliding grooves (10383) are provided on the bottom surface of the extension plate (10381), and telescopic plates (10384) are slidably embedded in the inner cavities of the plurality of deep sliding grooves (10383).

9. The robot for cleaning photovoltaic panels at large inclination angles according to claim 8, characterized in that: The telescopic plate (10384) includes a plate body (103841) slidably installed in the inner cavity of the deep slide groove (10383), and the plate body (103841) and the inner wall of the inner cavity of the deep slide groove (10383) are elastically connected via a second spring (103842).

10. A robot for cleaning photovoltaic panels at large inclination angles according to claim 9, characterized in that: The bottom surface of the plate body (103841) is provided with an inclined surface. When the extension plate (10381) drives the telescopic plate (10384) to retract into the inner cavity of the second chamber (1033) and the third chamber (1034), the plate body (103841) can retract into the inner cavity of the deep slide groove (10383) under the coordinated setting of the inclined surface and the second spring (103842).

Images