Photovoltaic panel surface cleaning robot

Abstract

The invention discloses a photovoltaic panel surface cleaning robot, and relates to the field of photovoltaic panel cleaning and maintenance. The device comprises a main structure frame, a cleaning module and a transverse and longitudinal moving system; the main structure frame comprises limiting plates at the two ends and two limiting rods connected with the limiting plates, limiting wheels and moving wheels are installed below the limiting plates, and the moving wheels comprise common moving wheels and moving wheels with square shafts; the cleaning module comprises three options and can provide various cleaning schemes such as a water cleaning scheme, a water-free cleaning scheme, a contact cleaning scheme and a non-contact cleaning scheme; the cleaning module, the transverse moving system and the longitudinal moving system achieve energy supply, driving and control through a mobile power source, a servo motor and a control system in the cleaning module. According to the novel photovoltaic panel surface cleaning robot, the brand-new motion mode and structure scheme of the photovoltaic panel surface cleaning robot are provided, and different photovoltaic panel surface cleaning requirements are met through the three selectable and replaceable cleaning modules.

Description

Technical Field

[0001] This application type relates to the field of photovoltaic panel cleaning and maintenance, and particularly relates to a cleaning robot for the surface of photovoltaic panels. Background Art

[0002] With the rapid rise of the new energy field, the total construction area of photovoltaic panels in our country is also continuously increasing. However, since photovoltaic panels must be arranged in outdoor environments, their surfaces are easily contaminated by various pollutants such as dust, insect corpses, and bird droppings. In particular, many photovoltaic power plants are built in areas with strong winds, such as deserts, gobi, and grasslands, where the natural environment is relatively harsh and the population is relatively sparse. This means that not only is it easy for dirt to accumulate on the surface of photovoltaic panels, but it will also be costly to recruit manual labor for cleaning and maintenance. In addition, cleaning the surface of photovoltaic panels manually involves a large amount of work, and working outdoors under the sun and wind makes the working environment relatively harsh. Based on this, we need to consider designing a photovoltaic cleaning robot to complete the cleaning and maintenance work of the surface of photovoltaic panels.

[0003] For photovoltaic panels distributed on the tops of houses and rooftops, generally, the inclination angles of such photovoltaic panels are small and they are relatively scattered. In response to this situation, there are currently many cleaning robots with tracked vehicles as the carrying platform. Such robots can be controlled by a remote control, are easy to operate, flexible in movement, and have a good cleaning effect. However, for large-area photovoltaic panels with large inclination angles and neat arrangements in professional photovoltaic fields, such cleaning robots seem a bit inadequate. For the photovoltaic panels in these professional photovoltaic fields, the currently more widely used ones are row-mounted cleaning robots. However, currently, such robots have many disadvantages such as being relatively bulky, having a single cleaning function, and consuming a large amount of water.

[0004] Therefore, this invention patent proposes a photovoltaic cleaning robot that draws on the row-mounted structure, which can not only solve the cleaning problems of long rows of photovoltaic panels with large inclination angles and large areas, but also provide diversified cleaning methods according to the actual pollution conditions on the surface of photovoltaic panels, and has a more concise structure, thereby achieving the purposes of reducing costs, reducing weight, being convenient for disassembly and assembly, and enhancing the cleaning ability. Summary of the Invention

[0005] In view of the above technical problems, this application proposes a cleaning robot for the surface of photovoltaic panels, which can stably adhere to large-inclination, row-by-row large-area photovoltaic panels, providing conditions for subsequent stable operation. At the same time, it can also provide users with diversified cleaning methods according to the actual pollution conditions on the surface of photovoltaic panels, thereby further enhancing the cleaning effect.

[0006] To achieve the above object, the present invention provides the following technical solutions:

[0007] The first aspect of the present application provides a cleaning robot for the surface of a photovoltaic panel, which includes a main structure frame, a cleaning module, a lateral movement system, and a longitudinal movement system;

[0008] The main structure frame includes: a limit plate (2) and a limit rod (3);

[0009] The limit plate includes: a hook hole (11), a common traveling wheel (5) located on the inner side of the plate body of the limit plate (2), a traveling wheel (4) with a square shaft, and a limit wheel (1) perpendicular to the plate surface of the limit plate (2);

[0010] The limit rod (3) is used to adjust its own length through telescopic movement;

[0011] The cleaning module is one of a contact water cleaning module, a contact non-water cleaning module, and a non-contact non-water cleaning module;

[0012] Among them, the contact water cleaning module includes: a first rolling brush (22) and a spraying system. The first rolling brush (22) is driven by a first servo motor contained in a first main structure box (23); the first servo motor is powered by a mobile power source contained in the first main structure box (23); the first servo motor is controlled by a control system contained in the first main structure box (23); the spraying system consists of a row of nozzle systems (21) located inside the outer shell cover and a water inlet (20) located outside the outer shell cover, and the water inlet is connected to an external water supply structure;

[0013] The contact non-water cleaning module includes a second rolling brush (17) and a first dust suction system. The first rolling brush (17) is driven by a second servo motor contained in a second main structure box (18), the second servo motor is powered by a mobile battery contained in the second main structure box (18), and the second servo motor is controlled by a control system contained in the second main structure box (18); the dust suction system is driven by a blower contained in a secondary structure box (16); the blower is powered by a mobile power source contained in the second main structure box (18); the dust suction system includes a dust suction port grid (19) and a first air outlet (15), and fine brushes are distributed at the edge of the dust suction port grid (19);

[0014] The non-contact non-water cleaning module includes a high-pressure air jetting system and a second dust suction system. The high-pressure air jetting system includes a row of air jet heads (25) located inside the outer shell cover and an air inlet (28) located on the upper outer side of the outer shell cover; the second dust suction system includes a row of dust suction ports (26) located inside the outer shell cover and distributed on both sides of the air jet heads (25) and a row of second air outlets (29) located on the upper outer side of the outer shell cover;

[0015] The lateral movement system includes a traveling wheel (4) with a square shaft located inside the limiting plate (2), a clamping mechanism (7) on the main structure box inside the cleaning module, and a square shaft (8) extending from the traveling wheel (4).

[0016] The longitudinal movement system includes a wire winding wheel (14) on the main structure box inside the cleaning module, a traction rope (10) wound around the wire winding wheel (14), a wire outlet (13) and a small pulley (12) on the outer housing of the cleaning module, a hook (9) at the end of the traction rope, and a hook hole (11) in the center of the limiting plate.

[0017] In a possible implementation, the number of the limiting plates (2) is two; the number of the limiting rods (3) is two; the number of the hook holes (11) is two; the number of the ordinary traveling wheels (5) is four, and the number of the traveling wheels (4) with square shafts is four; the number of the limiting wheels (1) is eight; both the front and rear sides of the cleaning module are provided with clamping mechanisms (7), and the number of the clamping mechanisms (7) is four.

[0018] In a possible implementation, the traction rope (10) is wound out from the wire winding wheel (14) through the wire outlet (13) and the small pulley (12), and the hook (9) at the end of the traction rope (10) is connected to the hook hole (11) on the limiting plate (2).

[0019] In a possible implementation, it further includes: a charging port (30), and the charging port (30) is located on any side of the main structure box corresponding to the cleaning module.

[0020] Compared with the prior art, the beneficial effects of the present invention are as follows:

[0021] The photovoltaic panel surface cleaning robot of the present invention can operate stably and efficiently on rows of large-inclination photovoltaic panels through limit rods, limit plates and limit wheels, and can select different types of cleaning modules according to the actual pollution conditions on the surface of the photovoltaic panels, which provides users with diversified cleaning solutions; it takes into account the conservation and efficient utilization of water resources and provides users with two options: conventional water cleaning and waterless cleaning; according to the actual pollution conditions on the surface of the photovoltaic panels, this robot can provide users with two options: contact cleaning and non-contact cleaning, thus avoiding unnecessary scratches on the surface of the photovoltaic panels caused by improper cleaning methods or failing to achieve the cleaning effect due to insufficient cleaning strength; this photovoltaic surface cleaning robot takes into account issues such as the weight of the robot itself and the simplicity of disassembly and assembly, adopts the design of a horizontal cleaning module, and there is no driving device on the main structural frame itself, and its power source is completely taken from the cleaning module, so that the robot has a lighter weight and a simpler disassembly and assembly method as a whole; by examining the existing design solutions of photovoltaic panel robots with a row-mounted structure, it is found that the existing design solutions of photovoltaic panel robots generally have the problem of too narrow horizontal length, while this photovoltaic panel surface cleaning robot has a wider horizontal length, so that the cleaning area covered during a single movement of the cleaning module is greatly increased. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] In combination with the accompanying drawings and with reference to the following specific embodiments, the above and other features, advantages and aspects of the various embodiments of the present disclosure will become more apparent. Throughout the drawings, the same or similar reference numerals denote the same or similar elements. It should be understood that the drawings are schematic and the components and elements are not necessarily drawn to scale.

[0023] Figure 1 FIG. is a schematic structural diagram of the photovoltaic panel surface cleaning robot provided by the embodiment of the present application;

[0024] Figure 2 FIG. is a schematic structural diagram of the contact water cleaning module composed of a rotary brush and a spraying system included in the photovoltaic panel surface cleaning robot provided by the embodiment of the present application;

[0025] Figure 3 FIG. is a schematic structural diagram of the contact waterless cleaning module composed of a rotary brush and a dust suction system included in the photovoltaic panel surface cleaning robot provided by the embodiment of the present application;

[0026] Figure 4 FIG. is a schematic structural diagram of another contact waterless cleaning module composed of a rotary brush and a dust suction system included in the photovoltaic panel surface cleaning robot provided by the embodiment of the present application;

[0027] Figure 5 FIG. is a schematic structural diagram of the non-contact waterless cleaning module composed of a high-pressure air jet system and a dust suction system included in the photovoltaic panel surface cleaning robot provided by the embodiment of the present application;

[0028] Figure 6 Schematic diagram of the structure of the non-contact waterless cleaning module composed of a high-pressure air jet system and a dust suction system included in another photovoltaic panel surface cleaning robot provided by an embodiment of the present application;

[0029] Figure 7 Schematic diagram of the structure of the lateral movement system of the photovoltaic panel surface cleaning robot provided by an embodiment of the present application;

[0030] Figure 8 Schematic diagram of the structure of the longitudinal movement system of the photovoltaic panel surface cleaning robot provided by an embodiment of the present application;

[0031] Figure 9 Schematic diagram of the structure of the charging port of the photovoltaic panel surface cleaning robot provided by an embodiment of the present application.

[0032] Reference numerals:

[0033] 1 - Limiting wheel; 2 - Limiting plate; 3 - Limiting rod; 4 - Shifting wheel with a square shaft; 5 - Ordinary shifting wheel; 6 - Cleaning module; 7 - Clamping mechanism; 8 - Square shaft; 9 - Hook; 10 - Traction rope; 11 - Hook hole; 12 - Small pulley; 13 - Wire outlet; 14 - Winding wheel; 15 - First air outlet; 16 - Sub-structure box; 17 - Second roller brush; 18 - Second main structure box; 19 - Dust suction port grid; 20 - Water connection port; 21 - Sprinkler system; 22 - First roller brush; 23 - First main structure box; 24 - Cleaning module limiting hole; 25 - Air jet port; 26 - Dust suction port; 27 - Main structure box; 28 - Air inlet; 29 - Second air outlet; 30 - Charging port. Detailed implementation manners

[0034] The embodiments of the present application will be described below with reference to the accompanying drawings in the embodiments of the present application. The terms used in the embodiments part of the present application are only used to explain the specific embodiments of the present application, and are not intended to limit the present application.

[0035] The embodiments of the present application will be described below with reference to the accompanying drawings. Those skilled in the art know that with the development of technology and the emergence of new scenarios, the technical solutions provided by the embodiments of the present application are also applicable to similar technical problems.

[0036] In the description, claims and the above drawings of this application, terms such as "first" and "second" are used to distinguish similar objects, and do not necessarily describe a specific order or sequence. It should be understood that such terms can be interchanged under appropriate circumstances, which is merely a way of distinguishing objects with the same attributes when describing the embodiments of this application. In addition, the terms "comprising" and "having" and any variations thereof are intended to cover non-exclusive inclusion, so that a process, method, system, product or device comprising a series of units does not have to be limited to those units, but may include other units not clearly listed or inherent to these processes, methods, products or devices.

[0037] As Figure 1 shown, a schematic structural diagram of a photovoltaic panel surface cleaning robot provided by an embodiment of this application, wherein the photovoltaic panel surface cleaning robot includes: a main structural frame, a cleaning module (6), a lateral movement system, and a longitudinal movement system; the main structural frame includes: a limiting rod (3) and a limiting plate (2).

[0038] As Figure 2 shown, a schematic structural diagram of a contact water cleaning module composed of a rolling brush and a spraying system included in the photovoltaic panel surface cleaning robot provided by an embodiment of this application, the contact water cleaning module includes: a first rolling brush (22), a nozzle system (21), a water inlet (20). Specifically, the contact water cleaning module includes: a first rolling brush (22) and a spraying system, the first rolling brush (22) is driven by a first servo motor included in a first main structural box (23); the first servo motor is powered by a mobile power source included in the first main structural box (23); the first servo motor is controlled by a control system included in the first main structural box (23); the spraying system is composed of a row of nozzle systems (21) located inside the outer shell cover and a water inlet (20) located outside the outer shell cover, and the water inlet is connected to an external water supply structure.

[0039] As Figure 3 and Figure 4As shown in the figure, the structural schematic diagram of the contactless waterless cleaning module composed of a rolling brush and a dust suction system included in the photovoltaic panel surface cleaning robot provided by the embodiment of the present application. The contactless waterless cleaning module includes: a second rolling brush (17), a dust suction port grid (19); there are several rows of small brushes on the dust suction port grid (19); the small brushes are in contact with the bristles of the second rolling brush (17). Specifically, the contactless waterless cleaning module includes a second rolling brush (17) and a first dust suction system. The first rolling brush (17) is driven by a second servo motor included in the second main structure box (18). The second servo motor is powered by a mobile battery included in the second main structure box (18), and the second servo motor is controlled by a control system included in the second main structure box (18); the dust suction system is driven by a fan included in the auxiliary structure box (16); the fan is powered by a mobile power source included in the second main structure box (18); the dust suction system includes a dust suction port grid (19) and a first air outlet (15), and fine brushes are distributed on the edge of the dust suction port grid (19).

[0040] As Figure 5 、 Figure 6 shown in the figure, the structural schematic diagram of the non-contact waterless cleaning module composed of a high-pressure air jet system and a dust suction system included in the photovoltaic panel surface cleaning robot provided by the embodiment of the present application. The non-contact waterless cleaning module composed of a high-pressure air jet system and a dust suction system includes an air jet port (25) and a dust suction port (26). Specifically, the high-pressure air jet system includes a row of air jet heads (25) located inside the outer shell cover and an air inlet (28) located on the outer upper side of the outer shell cover; the second dust suction system includes a row of dust suction ports (26) located inside the outer shell cover and distributed on both sides of the air jet heads (25) and a row of second air outlets (29) located on the outer upper side of the outer shell cover.

[0041] As Figure 7 shown in the figure, the structural schematic diagram of the lateral movement system of the photovoltaic panel surface cleaning robot provided by the embodiment of the present application. The lateral movement system of the robot is composed of a clamping mechanism (7) located on the main structure box of the cleaning module and a traveling wheel (4) containing a square shaft; the clamping plate of the clamping mechanism (7) can clamp the square shaft (8) to drive the traveling wheel (7) to move;

[0042] As Figure 8 shown in the figure, the structural schematic diagram of the longitudinal movement system of the photovoltaic panel surface cleaning robot provided by the embodiment of the present application. The longitudinal movement system of the robot is composed of a wire winding wheel (14) located inside the cleaning module, a traction rope (10) and its front hook (9), a wire outlet (13) and a small pulley (12) located on the cleaning module, and a hook hole (11) located in the center of the limit plate (2); the traction rope (10) starts from the wire winding wheel (14), passes through the wire outlet (13) and the small pulley (12), and is hung on the hook hole (11) through the hook (9) at its end.

[0043] As shown Figure 9 in the figure, the structural schematic diagram of the charging port of the photovoltaic panel surface cleaning robot provided by the embodiment of the present application. There is a charging port (30) on one side of the three cleaning modules close to the main structure box.

[0044] Based on the above structure and combined with Figures 1-9 , the working process of the photovoltaic panel surface cleaning robot is as follows:

[0045] The staff selects a more suitable one from the three cleaning modules according to the pollution situation on the surface of the photovoltaic panel, and then assembles the robot and places it on the photovoltaic panel. When assembling, it should be noted that the length of the telescopic rod should be adapted to the width of the photovoltaic panel; when placing, it should be noted that all the limit wheels (1) at both ends of the robot are properly stuck on the side edges of the photovoltaic panel. The side of the cleaning module containing the small pulley (12) and the wire outlet (13) should face the higher side of the photovoltaic panel position, and the traction rope (10) should be led out through the small pulley from the wire outlet (13). The hook (9) at the end of the rope should be hung on the hook hole (11) in the center of the limit plate (2) on the higher side of the photovoltaic panel.

[0046] Among them, the number of limit plates (2) is two; the number of limit rods (3) is two; the number of hook holes (11) is two; the number of ordinary traveling wheels (5) is four, and the number of traveling wheels (4) with square shafts is four; the number of limit wheels (1) is eight; both the front and back sides of the cleaning module are provided with clamping mechanisms (7), and the number of clamping mechanisms (7) is four. The side of the cleaning module 6 is provided with a cleaning module limit hole (24).

[0047] After placement, the staff can choose to remotely control and command the movement of the robot according to their own needs or use the pre-set program of the robot to make the robot run automatically. During the cleaning process (taking the initial position of the cleaning module on the lower side of the photovoltaic panel as an example), the winding wheel (14) in the cleaning module tightens the traction rope (10) under the drive of the motor, and the cleaning module moves along the limit rod (3) on the surface of the photovoltaic panel towards the higher end of the photovoltaic panel. At the same time, the cleaning module in the cleaning module completes the cleaning work during the upward movement of the entire module. The cleaning processes of the three cleaning modules are different and are discussed separately below:

[0048] ① The contact water cleaning module composed of the first brush roller (22) and the spraying system: When the cleaning module moves on the surface of the photovoltaic panel along the limit rod (3), the first brush roller (22) performs brushing under the drive of the motor. At the same time, the nozzle system (21) of the external water pipe starts to spray water to dissolve the dirt on the surface of the photovoltaic panel, and at the same time cooperates with the first brush roller (22) for brushing. In addition to pure water, the nozzle system (21) can also be externally connected to a cleaning solution to dissolve dirt such as oil stains and bird droppings on the surface of the photovoltaic panel that are difficult to dissolve in water.

[0049] ② The contactless waterless cleaning module composed of the second roller brush (17) and the first dust suction system: When there is not much oily dirt on the surface of the photovoltaic panel and only a small amount of floating dust accumulates, this cleaning module can be used. When the cleaning module moves along the limiting rod (3) on the surface of the photovoltaic panel, the second roller brush (17) brushes under the drive of the motor. At the same time, the first dust suction system above the roller brush starts to work. The grid (19) part of the dust suction port of the first dust suction system contains several rows of small brushes, which slightly contact the bristles on the second roller brush (17). These small brushes can brush off the dust attached to the bristles of the second roller brush (17). The floating dust brushed off can be captured by the first dust suction system in an instant. These small brushes greatly improve the working ability and dust suction efficiency of the first dust suction system. These floating dust and dirt will eventually be sucked into the dust chamber of the auxiliary structure box (16) by the dust suction system, thus preventing secondary pollution.

[0050] ③ The non-contact waterless cleaning module composed of the high-pressure air jet system and the second dust suction system: This cleaning module is applicable to the situation where the dust particles on the surface of the photovoltaic panel are relatively large and the connection between the dust and the surface of the photovoltaic panel is not too stubborn. For example, in a solar power plant in the desert, after a sandstorm, a thick layer of sand and stone particles will accumulate on the surface of the photovoltaic panel. Since these dust particles are relatively large, if a roller brush is used to brush at this time, it may scratch the surface of the photovoltaic panel. At this time, the non-contact waterless cleaning module can come in handy. When the cleaning module moves along the limiting rod (3) on the surface of the photovoltaic panel, the jet orifice (25) sprays high-pressure air flow to bombard the surface of the photovoltaic panel, breaking the microscopic connection between the sand and stone particles and the surface of the photovoltaic panel. At the same time, the dust suction port (26) can clean these sand and stones by suction. These relatively large sand and stone particles on the surface of the photovoltaic panel are attached to the surface of the photovoltaic panel in a relatively weak connection way. Once these microscopic connections are destroyed by the high-pressure air flow, the sand and stone particles can immediately be captured by the dust suction port (26) and then sucked into the dust chamber to prevent secondary pollution caused by being blown up and falling down again by the high-pressure air flow.

[0051] When the winding wheel (14) continuously tightens the towing rope (10) and the cleaning module moves from the lower side to the higher side of the photovoltaic panel, the square shaft (8) on the traveling wheel (4) with a square shaft enters both ends of the clamping plate of the clamping mechanism (7). At this time, the movement of the cleaning module along the limit rod (3) stops, the clamping plate of the clamping mechanism (7) tightens, clamps the square shaft (8), and then the clamping mechanism (7) starts the rotation mode, driving the traveling wheel (4) with a square shaft to rotate, so that the entire robot moves horizontally along the photovoltaic panel. This horizontal movement distance is an effective cleaning width of the cleaning module. Subsequently, the clamping mechanism (7) stops rotating, the clamping plate releases the square shaft, and the horizontal movement stops. Subsequently, the winding wheel (14) in the cleaning module starts to rotate in the opposite direction, thus releasing the previously tightened towing rope (10). Then the cleaning module starts to move from the higher side of the photovoltaic panel along the limit rod (3) to the lower side of the photovoltaic panel. The cleaning function continues to be exerted during this movement process of the cleaning module until the cleaning module returns to the lower side of the photovoltaic panel where it started along the limit rod (3) again. At this time, a movement cycle is completed. Subsequently, the entire robot can repeat the above movement steps until the entire row of photovoltaic panels is cleaned.

[0052] The foregoing description of the disclosed embodiments enables those skilled in the art to implement or use the present invention. Various modifications to these embodiments will be apparent to those skilled in the art, and the general principles defined herein can be implemented in other embodiments without departing from the spirit or scope of the present invention. Therefore, the present invention will not be limited to the embodiments shown herein, but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A photovoltaic panel surface cleaning robot, characterized in that, It includes a main structure frame, a cleaning module, a lateral movement system, and a longitudinal movement system; The main structure frame includes: a limit plate (2) and a limit rod (3); The limit plate includes: a hook hole (11), a common traveling wheel (5) located on the inner side of the plate body of the limit plate (2), a traveling wheel (4) with a square shaft, and a limit wheel (1) perpendicular to the plate surface of the limit plate (2); The limit rod (3) is used to adjust its own length through telescopic movement; The cleaning module is one of a contact water cleaning module, a contact non-water cleaning module, and a non-contact non-water cleaning module; Among them, the contact water cleaning module includes: a first rolling brush (22) and a spraying system. The first rolling brush (22) is driven by a first servo motor contained in a first main structure box (23); the first servo motor is powered by a mobile power source contained in the first main structure box (23); the first servo motor is controlled by a control system contained in the first main structure box (23); the spraying system consists of a row of nozzle systems (21) located inside the outer shell cover and a water inlet (20) located outside the outer shell cover, and the water inlet is connected to an external water supply structure; The contact non-water cleaning module includes a second rolling brush (17) and a first dust suction system. The first rolling brush (17) is driven by a second servo motor contained in a second main structure box (18). The second servo motor is powered by a mobile battery contained in the second main structure box (18). The second servo motor is controlled by a control system contained in the second main structure box (18); the dust suction system is driven by a fan contained in an auxiliary structure box (16); the fan is powered by a mobile power source contained in the second main structure box (18); the dust suction system includes a dust suction port grid (19) and a first air outlet (15), and fine brushes are distributed at the edge of the dust suction port grid (19); The non-contact non-water cleaning module includes a high-pressure air jetting system and a second dust suction system. The high-pressure air jetting system includes a row of air jet heads (25) located inside the outer shell cover and an air inlet (28) located on the upper outer side of the outer shell cover; the second dust suction system includes a row of dust suction ports (26) located inside the outer shell cover and distributed on both sides of the air jet heads (25) and a row of second air outlets (29) located on the upper outer side of the outer shell cover; The lateral movement system includes a traveling wheel (4) with a square shaft located inside the limit plate (2), a clamping mechanism (7) located on the main structure box inside the cleaning module, and a square shaft (8) led out from the traveling wheel (4); The longitudinal movement system includes a wire winding wheel (14) located on the main structure box inside the cleaning module, a towing rope (10) wound around the wire winding wheel (14), a wire outlet (13) and a small pulley (12) located on the outer shell of the cleaning module, a hook (9) at the end of the towing rope, and a hook hole (11) located at the center of the limit plate.

2. The surface cleaning robot for a photovoltaic panel according to claim 1, wherein The number of the limiting plates (2) is two; the number of the limiting rods (3) is two; the number of the hook holes (11) is two; the number of the ordinary traveling wheels (5) is four, and the number of the traveling wheels (4) with square shafts is four; the number of the limiting wheels (1) is eight; both the front and rear sides of the cleaning module are provided with clamping mechanisms (7), and the number of the clamping mechanisms (7) is four.

3. The surface cleaning robot for a photovoltaic panel according to claim 1, wherein, The traction rope (10) is wound out from the winding wheel (14) through the wire outlet (13) and the small pulley (12), and the hook (9) at the end of the traction rope (10) is connected to the hook hole (11) on the limiting plate (2).

4. The surface cleaning robot for a photovoltaic panel according to claim 1, wherein, Further comprising: A charging port (30), and the charging port (30) is located on any side of the main structure box corresponding to the cleaning module.

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