Photovoltaic panel cleaning robot

Abstract

According to the photovoltaic panel cleaning robot, through cooperative use of a supporting rod, a shaft sleeve, a piston rod, a spring, a supporting fork and a hinge pin, when the cleaning robot carries out large-angle crossing arrangement, relative rotation of a cleaning head device relative to a movement chassis can be achieved, and then obstacle crossing is achieved; and the arrangement of the spring can prevent the sweeping head device from jumping caused by high-speed rotation of the rolling brush when the robot carries out sweeping operation, so that the sweeping head device is ensured to run more stably, and the sweeping cleanliness and efficiency are improved. Moreover, when the cleaning robot passes through a deep V-shaped structure formed between the adjacent photovoltaic panels in a crossing manner, the cleaning head device rotates in the Z direction relative to the movement chassis, the piston rod in the connecting assembly retracts relative to the shaft sleeve, the spring is in a compressed state, and the design can further improve smooth obstacle crossing passing of the cleaning robot.

Description

Technical Field

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

[0002] In recent years, the photovoltaic power generation industry in China has developed rapidly. However, during use, photovoltaic panels are extremely vulnerable to the environment. The working environment of photovoltaic panels is outdoors. What affects the panels is not wind, rain, lightning, but the dust that has accumulated on the panels over the years; when there is dust or other attachments on the photovoltaic panels, it will affect the light transmittance of the panels, hinder the photoelectric efficiency, and thus seriously affect the efficiency of the panels directly obtaining sunlight, reduce the energy absorption and conversion efficiency of the panels, and reduce the power generation efficiency. Therefore, it is particularly important to regularly clean the dust and dirt on the photovoltaic panels.

[0003] However, the existing photovoltaic panels can only rely on manual cleaning regularly during use. Due to the large area of photovoltaic panels and the large number of panels used in large power stations at the same time, the dust will accumulate repeatedly and need to be cleaned repeatedly; therefore, the labor cost is very high, the cleaning efficiency is low, and the cleaning effect is poor; in many cases, in order to improve the space utilization rate, photovoltaic panels are installed at high places or on the sea or lake surfaces using brackets, which brings greater difficulties and challenges to the cleaning work; many users of photovoltaic panels can only choose not to clean in order to reduce the cleaning cost, and thus can only be forced to bear the power loss caused by dust. Therefore, there is an urgent need for an intelligent automatic cleaning device to automatically clean the photovoltaic panels, and thus the technology of using cleaning robots to clean photovoltaic panels has emerged.

[0004] However, since the photovoltaic panels on the sea or lake surface are fixed by an anchoring system through floating bodies, the wind waves, water waves and the gravity borne will cause the photovoltaic panels to shake and be displaced (displacements occur in X, Y, Z), and the inclination angle of the photovoltaic panels is generally between 10 degrees and 40 degrees. The existing cleaning robots can generally only be applied to land-fixed photovoltaic panels and cannot be applied to inclined plane photovoltaic panels and floating photovoltaic panel components on the sea or lake surface like this; therefore, researching a cleaning robot that can be applied to water surface photovoltaic panels is the main research topic at present. Summary of the Invention

[0005] The purpose of the present application is to provide a photovoltaic panel cleaning robot to solve the problems that the existing cleaning robots cannot clean photovoltaic panels with complex scenarios, resulting in low power generation efficiency and high maintenance and repair costs.

[0006] To solve the above technical problems, the present application provides a photovoltaic panel cleaning robot, including:

[0007] A moving chassis, one end of the moving chassis is connected with a cleaning component through a connecting component;

[0008] The moving chassis includes a bottom plate, with a rear side plate and a front side plate fixed to both ends of the bottom plate respectively, and a left side plate and a right side plate fixed to both sides of the bottom plate respectively. A cover plate is commonly fixed on the rear side plate, the front side plate, the left side plate and the right side plate. Drive wheel sets, driven wheel sets, suspension systems, fixing frames, support wheel sets and tensioning devices are installed on the outer sides of the left side plate and the right side plate. An anti-slip track is commonly sleeved on the drive wheel sets and the driven wheel sets. An aviation plug is installed on the left side plate, a first ultrasonic sensor is installed on the fixing frame, a gyroscope, a suction cup system are installed on the bottom plate, and a first sensor is installed through a bracket. A camera is installed on the front side plate through a camera bracket. A control component and a partition are installed between the right side plate and the left side plate. A battery, a magnetic navigation sensor and a second ultrasonic sensor are installed on the partition. A power display light, an operation indicator light, an emergency stop button, a power button, an automatic charging receiver and a solar panel are installed on the cover plate;

[0009] The cleaning head device includes a left fixing plate and a right fixing plate. Multiple connecting rods are fixed between the left fixing plate and the right fixing plate. Opposite connecting plates are fixed on the connecting rods, and the connecting plates are rotatably connected to the shaft ends of the drive wheel sets; A bearing fixed shaft is rotatably installed on the upper part of the left fixing plate through a bearing assembly. A motor is installed on the right fixing plate, and a brush roller shaft is rotatably installed. A synchronous pulley is fixed on the brush roller shaft, and a synchronous belt is commonly sleeved on the synchronous pulley and the motor shaft. A brush roller is installed between the bearing fixed shaft and the brush roller shaft;

[0010] The connecting component includes support rods respectively fixed on the left side plate and the right side plate. A bushing is rotatably installed at one end of the support rod. A piston rod is slidably installed in the bushing through a limiting component. A fork is fixed at the other end of the piston rod and a nut is screwed on it. A spring is sleeved on the piston rod between the fork and the bushing. A hinge pin is installed on the fork, and the hinge pin is rotatably connected to the connecting plate.

[0011] As a preferred embodiment, for a photovoltaic panel cleaning robot, the bearing assembly includes a fixed sleeve fixed on the left fixing plate, a bearing, a retaining ring and a through shaft sleeved on the bearing fixed shaft and located in the inner cavity of the fixed sleeve. A compression spring is installed between the bottom of the bearing fixed shaft and the fixed sleeve. One end of the through shaft is located outside the fixed sleeve. A limiting groove is provided on the fixed sleeve. The bearing fixed shaft and the through shaft are fixed by a limiting screw, and the upper end of the limiting screw extends to the outside of the fixed sleeve through the limiting groove.

[0012] As a preferred embodiment, a photovoltaic panel cleaning robot, the limiting component includes a linear bearing installed in the shaft sleeve, the piston rod is sleeved on the linear bearing, and an elastic retaining ring is further provided at the connection between the piston rod and the shaft sleeve.

[0013] As a preferred embodiment, a photovoltaic panel cleaning robot, the connecting plate is rotatably connected to the shaft end of the driving wheel set through a rotary bearing.

[0014] As a preferred embodiment, a photovoltaic panel cleaning robot, one end of the support rod is rotatably connected to one end of the shaft sleeve through a bearing, and a retaining ring is further provided at the connection between the support rod and the shaft sleeve.

[0015] As a preferred embodiment, a photovoltaic panel cleaning robot, end covers are further provided at the ends of the motor shaft and the brush roller shaft.

[0016] As a preferred embodiment, a photovoltaic panel cleaning robot, a housing is further provided outside the right fixing plate, and the motor shaft, the synchronous belt pulley, the end cover, the ends of the brush roller shaft and the synchronous belt are all located inside the housing.

[0017] As a preferred embodiment, a photovoltaic panel cleaning robot, handles are further fixed on the upper sides of the right plate and the left plate.

[0018] As a preferred embodiment, a photovoltaic panel cleaning robot, brush fixing rings are further installed at both ends of the shaft of the brush roller.

[0019] Compared with the prior art, the photovoltaic panel cleaning robot provided by the present invention has at least the following beneficial effects:

[0020] Through the cooperation of the support rod, the shaft sleeve, the piston rod, the spring, the fork and the hinge pin, when the cleaning robot makes a large-angle cross-row, the relative rotation of the cleaning head device relative to the moving chassis can be realized, thereby realizing obstacle crossing; and the setting of the spring can avoid the jumping of the cleaning head device caused by the high-speed rotation of the brush roller when the robot is performing cleaning operations, ensuring that the cleaning head device runs more smoothly, thereby improving the cleaning cleanliness and efficiency. And when the cleaning robot crosses the "deep V" structure formed between adjacent photovoltaic panels, at this time, the cleaning head device rotates relative to the moving chassis along the Z direction, and the piston rod in the connecting component retracts relative to the shaft sleeve, and at this time the spring is in a compressed state. This design can further improve the smooth passing of the cleaning robot over obstacles. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] To more clearly illustrate the technical solution of this application, the following will briefly introduce the drawings required in the embodiments. Obviously, for those of ordinary skill in the art, without creative efforts, other drawings can also be obtained based on these drawings.

[0022] Figure 1 Schematic diagram of the structure of a photovoltaic panel cleaning robot provided by an embodiment of this application;

[0023] Figure 2 Exploded view of a motion chassis provided by an embodiment of this application;

[0024] Figure 3 Axonometric view of a cleaning head device provided by an embodiment of this application;

[0025] Figure 4 Top view of a cleaning head device provided by an embodiment of this application;

[0026] Figure 5 Cross-sectional view of a cleaning head device provided by an embodiment of this application;

[0027] Figure 6 Enlarged view at position C provided by an embodiment of this application;

[0028] Figure 7 Enlarged view at position D provided by an embodiment of this application;

[0029] Figure 8 Front view of a connection component provided by an embodiment of this application;

[0030] Figure 9 Cross-sectional view of a connection component provided by an embodiment of this application;

[0031] Figure 10 Axonometric schematic diagram of a cleaning robot during on-site operation provided by an embodiment of this application;

[0032] Figure 11 Top view of a cleaning robot during on-site operation provided by an embodiment of this application;

[0033] Figure 12 Cross-sectional view of a cleaning robot during on-site operation provided by an embodiment of this application;

[0034] Figure 13 Enlarged view at position H provided by an embodiment of this application.

[0035] In the figure: 1, moving chassis; 2, connecting component; 3, cleaning head device; 5, right side plate; 6, cover plate; 7, power display lamp; 8, operation indicator lamp; 9, emergency stop button; 10, power button; 11, automatic charging receiver; 12, fixing bracket; 13, first ultrasonic sensor; 14, camera bracket; 15, camera; 16, first sensor; 17, bracket; 18, front side plate; 19, left side plate; 20, driven wheel set; 21, anti-slip track; 22, tensioning device; 23, suspension system; 24, supporting wheel set; 25, handle; 26, aviation plug; 27, driving wheel set; 28, control component; 29, gyroscope; 30, suction cup system; 31, rear side plate; 32, battery; 33, magnetic navigation sensor; 34, second ultrasonic sensor; 35, partition board; 36, bottom plate; 37, solar panel; 40, support rod; 41, bearing; 42, retaining ring; 43, bushing; 44, linear bearing; 45, circlip; 46, piston rod; 47, spring; 48, fork; 49, nut; 50, hinge pin; 60, left fixing plate; 61, connecting rod; 62, motor; 63, right fixing plate; 64, housing; 65, second sensor; 66, connecting plate; 67, rotary brush; 68, fixing sleeve; 69, limit screw; 70, through shaft; 71, compression spring; 72, bearing fixing shaft; 73, bearing; 74, retaining ring; 75, brush fixing ring; 76, rotary brush shaft; 77, bearing seat; 78, synchronous belt; 79, synchronous belt pulley; 80, end cover; 81, rotary bearing; 90, upper row of photovoltaic panels; 91, lower row of photovoltaic panels; 92, bridge deck. Detailed implementation manners

[0036] In order to enable those skilled in the art of this technology to better understand the technical solutions in this application, the technical solutions in the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings.

[0037] The core of this application is to provide a photovoltaic panel cleaning robot, which solves the problems that the existing cleaning robots cannot clean photovoltaic panels with complex scenarios, resulting in low power generation efficiency and high maintenance costs.

[0038] Figure 1 It is a schematic structural diagram of a photovoltaic panel cleaning robot provided by an embodiment of this application. Figure 2 It is an exploded view of a moving chassis provided by an embodiment of this application. Figure 3 It is an axonometric view of a cleaning head device provided by an embodiment of this application. Figure 4 It is a top view of a cleaning head device provided by an embodiment of this application. Figure 5 It is a sectional view of a cleaning head device provided by an embodiment of this application. Figure 6 It is an enlarged view of part C provided by an embodiment of this application. Figure 7 It is an enlarged view of part D provided by an embodiment of this application.Figure 8 The front view of a connection component provided by an embodiment of the present application Figure 9 The sectional view of a connection component provided by an embodiment of the present application Figure 10 The axonometric schematic diagram of the on-site operation of a cleaning robot provided by an embodiment of the present application Figure 11 The top view of the on-site operation of a cleaning robot provided by an embodiment of the present application Figure 12 The sectional view of the on-site operation of a cleaning robot provided by an embodiment of the present application Figure 13 The enlarged view of part H provided by an embodiment of the present application, see Figures 1 to 13 as shown

[0039] Embodiment 1

[0040] A photovoltaic panel cleaning robot, comprising: a moving chassis 1, one end of the moving chassis 1 is connected with a cleaning head device 3 through a connection component 2;

[0041] The moving chassis 1 includes a bottom plate 36, the two ends of the bottom plate 36 are respectively fixed with a rear side plate 31 and a front side plate 18, the two sides of the bottom plate 36 are respectively fixed with a left side plate 19 and a right side plate 5, a cover plate 6 is commonly fixed on the rear side plate 31, the front side plate 18, the left side plate 19 and the right side plate 5, and the cover plate 6 is made of a grid aluminum alloy plate, ensuring that the whole frame is light in weight, high in strength and high in precision. Drive wheel sets 27, driven wheel sets 20, suspension systems 23, fixing frames 12, support wheel sets 24 and tensioning devices 22 are installed on the outer sides of the left side plate 19 and the right side plate 5. An anti-slip track 21 is commonly sleeved on the drive wheel sets 27 and the driven wheel sets 20. An aviation plug 26 is installed on the left side plate 19, a first ultrasonic sensor 13 is installed on the fixing frame 12, a gyroscope 29, a suction cup system 30 and a first sensor 16 are installed on the bottom plate 36 through a bracket 17, a camera 15 is installed on the front side plate 18 through a camera bracket 14, a control component 28 and a partition plate 35 are installed between the right side plate 5 and the left side plate 19, a battery 32, a magnetic navigation sensor 33 and a second ultrasonic sensor 34 are installed on the partition plate 35. In actual design, the battery 32 is fixed on the partition plate 35 through a clamp, a power display lamp 7, an operation indicator lamp 8, an emergency stop button 9, a power button 10, an automatic charging receiver 11 and a solar panel 37 are installed on the cover plate 6; the whole moving chassis 1 is arranged in a mirror image.

[0042] The cleaning head device 3 includes a left fixed plate 60 and a right fixed plate 63. During actual operation, a second sensor 65 is further provided on the lower side of the right fixed plate 63. A plurality of connecting rods 61 are fixed between the left fixed plate 60 and the right fixed plate 63. Two opposite connecting plates 66 are fixed on the connecting rods 61, and the connecting plates 66 are rotatably connected to the shaft ends of the driving wheel set 27. A bearing fixed shaft 72 is rotatably installed on the left fixed plate 60 through a bearing assembly. A motor 62 is installed on the right fixed plate 63 and a brush roller shaft 76 is rotatably installed. Specifically, a bearing seat 77 can be fixed on the right fixed plate 63, and then the brush roller shaft 76 is rotatably installed on the bearing seat 77. A synchronous pulley 79 is fixed on the brush roller shaft 76, and a synchronous belt 78 is sleeved on the synchronous pulley 79 and the motor shaft of the motor 62 together. A brush roller 67 is installed between the bearing fixed shaft 72 and the brush roller shaft 76. Brush fixing rings 75 are further installed at both ends of the shaft of the brush roller 67. The brush roller 67 can be stably installed between the bearing fixed shaft 72 and the brush roller shaft 76 through the brush fixing rings 75. The rotation speed of the brush roller 67 can be adjusted accordingly according to the actual needs on site to improve the cleaning efficiency.

[0043] The connecting component 2 includes support rods 40 respectively fixed on the left plate 19 and the right plate 5. One end of the support rod 40 is rotatably installed with a bushing 43, and relative rotational movement can be achieved between the support rod 40 and the bushing 43. A piston rod 46 is slidably installed in the bushing 43 through a limiting component, and relative linear movement can be achieved for the piston rod 46 in the bushing 43. The other end of the piston rod 46 is fixed with a fork 48 and a nut 49 is screwed thereon. A spring 47 is sleeved on the piston rod 46 between the fork 48 and the bushing 43. A hinge pin 50 is rotatably installed on the fork 48, and the hinge pin 50 is rotatably connected to the connecting plate 66. During the process of the cleaning head device 3 lifting and lowering, relative movements will occur between the bushing 43 and the support rod 40, the piston rod 46 and the bushing 43, the connecting plate 66 and the driving wheel set 27, and the connecting plate 66 and the hinge pin 50, having four degrees of freedom.

[0044] Embodiment 2

[0045] Based on the above-mentioned Embodiment 1, for a photovoltaic panel cleaning robot, in order to facilitate the replacement of the rotary brush 67, preferably, the bearing assembly includes a fixed sleeve 68 fixed to the left fixing plate 60, a bearing 73, a retaining ring 74, and a through shaft 70 that are sleeved on the bearing fixed shaft 72 and located in the inner cavity of the fixed sleeve 68. A compression spring 71 is installed between the bottom of the bearing fixed shaft 72 and the fixed sleeve 68. One end of the through shaft 70 is located outside the fixed sleeve 68. A limit groove is provided on the fixed sleeve 68. The bearing fixed shaft 72 and the through shaft 70 are fixed by a limit screw 69, and the upper end of the limit screw 69 extends to the outside of the fixed sleeve 68 through the limit groove. During use, by pulling the through shaft 70, the bearing fixed shaft 72 can be driven to move into the fixed sleeve 68. At this time, the limit screw 69 moves in the limit groove, and the compression spring 71 is in a compressed state, enabling the rapid replacement of the rotary brush 67 after the rotary brush 67 is worn.

[0046] Based on the above-mentioned Embodiment 1, for a photovoltaic panel cleaning robot, in order to achieve the stable movement of the piston rod 46 in the bushing 43, preferably, the limit assembly includes a linear bearing 44 installed in the bushing 43. The piston rod 46 is sleeved on the linear bearing 44, and an elastic retaining ring 45 is also provided at the connection between the piston rod 46 and the bushing 43.

[0047] Based on the above-mentioned Embodiment 1, for a photovoltaic panel cleaning robot, in order to achieve the rotational connection between the connecting plate 66 and the drive wheel set 27, preferably, the connecting plate 66 and the shaft end of the drive wheel set 27 are rotationally connected through a rotary bearing 81.

[0048] Based on the above-mentioned Embodiment 1, for a photovoltaic panel cleaning robot, in order to achieve the rotational connection between the support rod 40 and the bushing 43, preferably, one end of the support rod 40 is rotationally connected to one end of the bushing 43 through a bearing 41, and a retaining ring 42 is also provided at the connection between the support rod 40 and the bushing 43.

[0049] Based on the above-mentioned Embodiment 1, for a photovoltaic panel cleaning robot, in order to protect the motor shaft and the rotary brush shaft, preferably, end caps 80 are also provided at the ends of the motor shaft and the rotary brush shaft 76. In this embodiment, for a photovoltaic panel cleaning robot, in order to facilitate the protection of the motor shaft, the synchronous pulley 79, the end cap 80, the rotary brush shaft 76, and the synchronous belt 78, preferably, a housing 64 is also provided outside the right fixing plate 63. The ends of the motor shaft, the synchronous pulley 79, the end cap 80, the rotary brush shaft 76, and the synchronous belt 78 are all located inside the housing 64.

[0050] As a preferred implementation method, for a photovoltaic panel cleaning robot, in order to facilitate the lifting and carrying of the cleaning robot, preferably, handles 25 are also fixed to the upper sides of the right plate 5 and the left plate 19.

[0051] When the cleaning robot makes a large-angle cross-row movement, the cleaning head device 3 rotates relative to the moving chassis 1 to achieve obstacle crossing; when the cleaning robot performs a cleaning operation, the high-speed rotation of the roller brush 67 will cause the cleaning head device 3 to jump, and the compression spring 71 provided on the connecting component 2 can make the operation more stable, thereby improving the cleaning cleanliness and efficiency.

[0052] The working process of the cleaning robot provided by the present invention is as follows:

[0053] The cleaning robot can crawl onto the photovoltaic panels through the bridge deck 92 along the Y direction, and then turn to the X direction to clean the entire row of photovoltaic panels. The length of the roller brush 67 can completely cover the Y-direction width of the photovoltaic panels, so only one trip is needed to complete the cleaning of the entire row of photovoltaic panels. As described in the background technology, since the photovoltaic panels on the sea and lake surface are fixed by a floating body through an anchoring system, wind and waves, water waves and gravity will cause the photovoltaic components to shake and displace X, Y, and Z. Therefore, when the cleaning robot runs to the edge of the photovoltaic panel, a certain height difference will be formed between the adjacent upper rows of photovoltaic panels 90 due to the influence of gravity. The "large chamfer" of the anti-skid track 21 installed on the driven wheel group 20 in front of the cleaning robot (the outer side of the anti-skid track 21 is a chamfered structure) can realize the smooth climbing and obstacle crossing of the adjacent upper rows of photovoltaic panels 90; when the cleaning operation of the entire row of photovoltaic panels is completed, the cleaning robot can turn along the Y direction through the bridge deck 92 and then clean the lower row of photovoltaic panels 91, and repeat in sequence.

[0054] When crossing the rows, a "deep V" is formed between the bridge deck 92 and the lower row of photovoltaic panels 91. At this time, the cleaning head device 3 rotates relative to the moving chassis 1 along the Z direction, and the piston rod 46 in the connecting component 2 retracts relative to the sleeve 43. At this time, the spring 47 is in a compressed state. This design can also greatly improve the robot's ability to overcome obstacles.

[0055] The photovoltaic panel cleaning robot provided in the embodiment of the present application can automatically, efficiently and safely clean the photovoltaic panel on the water surface, replacing manual cleaning of the photovoltaic panel, reducing labor costs and labor intensity, improving cleaning efficiency and thus improving photoelectric conversion efficiency. The cleaning head device 3 is adopted, combined with the waterless dry brush technology, with high cleaning efficiency and no need for additional water resources. At the same time, the anti-skid track 21 design enables it to operate stably on the photovoltaic module on the water surface and adapt to complex environments. The combination of solar panels 37 and batteries 32 is used for power supply, which reduces dependence on traditional energy and achieves the goal of energy saving and environmental protection.

[0056] Other embodiments of the present application will be readily contemplated by those skilled in the art upon consideration of the specification and practice of the application disclosed herein. The present application is intended to cover any variations, uses, or adaptations of the present application, which follow the general principles of the present application and include the common general knowledge or conventional technical means in the technical field disclosed in the present application. The specification and examples are only regarded as exemplary, and the true scope of the present application is pointed out by the claims.

[0057] It should be understood that the present application is not limited to the exact structures described above and shown in the drawings, and various modifications and changes can be made without departing from its scope. The embodiments of the present application described above do not constitute a limitation on the protection scope of the present application.

Claims

1. A photovoltaic panel cleaning robot, characterized in that: include: A moving chassis (1), one end of which is connected to a cleaning head device (3) via a connecting assembly (2); The motion chassis (1) comprises a bottom plate (36), the two ends of the bottom plate (36) are respectively fixed with a rear side plate (31) and a front side plate (18), the two sides of the bottom plate (36) are respectively fixed with a left side plate (19) and a right side plate (5), the rear side plate (31), the front side plate (18), the left side plate (19) and the right side plate (5) are commonly fixed with a cover plate (6), the outer sides of the left side plate (19) and the right side plate (5) are both installed with a driving wheel group (27), a driven wheel group (20), a suspension system (23), a fixing frame (12), a supporting wheel group (24) and a tensioning device (22), the driving wheel group (27) and the driven wheel group (20) are commonly covered with an anti-skid track (21), the left side plate (19) is installed with an aviation plug head (26), the fixing frame (12) is equipped with a first ultrasonic sensor (13), the bottom plate (36) is equipped with a gyroscope (29), a suction cup system (30) and a first sensor (16) through a bracket (17), the front side plate (18) is equipped with a camera (15) through a camera bracket (14), a control component (28) and a partition (35) are installed between the right side plate (5) and the left side plate (19), a battery (32), a magnetic navigation sensor (33) and a second ultrasonic sensor (34) are installed on the partition (35), and a power display light (7), an operation indicator light (8), an emergency stop button (9), a power button (10), an automatic charging receiver (11) and a solar panel (37) are installed on the cover plate (6); The cleaning head device (3) comprises a left fixed plate (60) and a right fixed plate (63), a plurality of connecting rods (61) are fixed between the left fixed plate (60) and the right fixed plate (63), two connecting plates (66) opposite to each other are fixed on the connecting rod (61), and the connecting plates (66) are rotatably connected to the shaft end of the driving wheel group (27); a bearing fixing shaft (72) is rotatably mounted on the left fixed plate (60) through a bearing assembly, a motor (62) is mounted on the right fixed plate (63) and a roller brush shaft (76) is rotatably mounted, a synchronous pulley (79) is fixed on the roller brush shaft (76), a synchronous belt (78) is mounted on the synchronous pulley (79) and the motor shaft of the motor (62), and a roller brush (67) is mounted between the bearing fixing shaft (72) and the roller brush shaft (76); The connecting assembly (2) comprises a support rod (40) respectively fixed on the left side plate (19) and the right side plate (5); a shaft sleeve (43) is rotatably mounted on one end of the support rod (40); a piston rod (46) is slidably mounted in the shaft sleeve (43) via a limit assembly; a fork (48) is fixed on the other end of the piston rod (46) and a nut (49) is screwed on the other end; a spring (47) is sleeved on the piston rod (46) and is located between the fork (48) and the shaft sleeve (43); a hinge pin (50) is mounted on the fork (48); and the hinge pin (50) is rotatably connected to the connecting plate (66).

2. The photovoltaic panel cleaning robot according to claim 1, characterized in that: The bearing assembly comprises a fixing sleeve (68) fixed on the left fixing plate (60), a bearing (73) sleeved on the bearing fixing shaft (72) and located in the inner cavity of the fixing sleeve (68), a retaining ring (74), and a through shaft (70); a compression spring (71) is installed between the bearing fixing shaft (72) and the bottom of the fixing sleeve (68); one end of the through shaft (70) is located outside the fixing sleeve (68); a limiting groove is provided on the fixing sleeve (68); the bearing fixing shaft (72) and the through shaft (70) are fixed by a limiting screw (69), and the upper end of the limiting screw (69) extends to the outside of the fixing sleeve (68) through the limiting groove.

3. The photovoltaic panel cleaning robot according to claim 1, characterized in that: The limiting assembly comprises a linear bearing (44) installed in the shaft sleeve (43), the piston rod (46) is sleeved on the linear bearing (44), and an elastic retaining ring (45) is also provided at the connection between the piston rod (46) and the shaft sleeve (43).

4. The photovoltaic panel cleaning robot according to claim 1, characterized in that: The connecting plate (66) is rotatably connected to the shaft end of the driving wheel set (27) via a rotary bearing (81).

5. The photovoltaic panel cleaning robot according to claim 1, characterized in that: One end of the support rod (40) is rotatably connected to one end of the shaft sleeve (43) via a bearing (41), and a retaining ring (42) is also provided at the connection between the support rod (40) and the shaft sleeve (43).

6. The photovoltaic panel cleaning robot according to claim 1, characterized in that: End covers (80) are also provided at the ends of the motor shaft and the roller brush shaft (76).

7. The photovoltaic panel cleaning robot according to claim 6, characterized in that: A cover shell (64) is also provided on the outer side of the right fixing plate (63), and the motor shaft, the synchronous pulley (79), the end cover (80), the end of the roller brush shaft (76) and the synchronous belt (78) are all located inside the cover shell (64).

8. The photovoltaic panel cleaning robot according to claim 1, characterized in that: A handle (25) is also fixed on the upper side of the right side plate (5) and the left side plate (19).

9. The photovoltaic panel cleaning robot according to claim 1, characterized in that: Brush fixing rings (75) are also installed at both ends of the shaft of the roller brush (67).

Images