Suspension type photovoltaic panel cleaning robot

Abstract

The invention relates to the field of photovoltaic panel cleaning, and discloses a suspension type photovoltaic panel cleaning robot. The suspension type photovoltaic panel cleaning robot comprises a guide rail mechanism, a lifting mechanism, a panel cleaning mechanism and a pulley mechanism. The guide rail mechanism is installed on the side, away from the ground, of the photovoltaic panel, the panel cleaning mechanism is arranged on the sunlight irradiation face of the photovoltaic panel, the lifting mechanism is installed on the guide rail mechanism, and the lifting mechanism is connected with the panel cleaning mechanism through the pulley mechanism. In the embodiment of the invention, the lifting mechanism can move in the horizontal direction through the guide rail mechanism, and the panel cleaning mechanism can move in the vertical direction through the pulley mechanism, so that the complexity of an external auxiliary structure is reduced, the arrangement of a sensor is reduced, and efficient dead-corner-free cleaning of the photovoltaic panel is realized; and the machine cleaning cost of the photovoltaic panel in a high-latitude area is effectively reduced.

Description

Technical Field

[0001] The present invention relates to the field of photovoltaic panel cleaning, and in particular to a suspended photovoltaic panel cleaning robot. Background Art

[0002] Photovoltaic panels (also known as solar panels) are devices that convert sunlight directly into electricity and are the core component of solar photovoltaic power generation systems. When sunlight strikes the surface of a photovoltaic panel, the energy of the photons excites electrons within the semiconductor material to break free from their atomic nuclei, forming electron-hole pairs. When an external circuit is connected, this potential difference drives the electrons through the circuit, forming an electric current, thereby converting sunlight energy into electricity and providing power to various electrical devices. Because the conversion efficiency of photovoltaic panels is related to the intensity of light energy absorbed, to maintain this efficiency, they must be regularly cleaned to remove surface dust.

[0003] Currently, numerous technologies are used to clean photovoltaic panels, each suited for different scenarios and environments. In low-latitude regions, where the sun's altitude is higher and water resources are relatively abundant, photovoltaic panels are often installed at a shallow tilt angle to achieve optimal power generation efficiency. In this scenario, the application of cleaning technologies primarily focuses on efficient liquid spray cleaning systems. Due to the panel's shallow tilt angle, the liquid spray evenly covers the entire panel surface, allowing gravity to flow down smoothly, removing dust and dirt for optimal cleaning results. Furthermore, the shallow tilt angle makes manual cleaning easier, allowing for more convenient wiping with a brush or cloth, and resulting in relatively high cleaning efficiency.

[0004] In high-latitude regions, where the solar altitude is low and water resources are relatively scarce, photovoltaic panels need to be installed at a larger tilt angle to ensure they receive sufficient sunlight. For panels with such a large tilt angle, a cleaning robot can move steadily along the tilted panel surface, and its brush roller can effectively brush away dust and dirt, keeping the panel dry. However, in the scheme for cleaning panels in high-latitude areas, the cleaning robot has a complex structure and uses a large number of sensors for cleaning the panels, resulting in excessive implementation costs for the cleaning robot, which has led to major obstacles in its application. For example, the cleaning panel cleaning equipment disclosed in Chinese invention patent CN116388674B and the adaptive posture photovoltaic panel cleaning device disclosed in Chinese invention patent CN116781002A use too many external auxiliary structures and related posture control-related sensors, resulting in excessive costs for implementing panel cleaning. Therefore, in order to solve the problem of high cleaning costs caused by the complex external auxiliary structures and excessive number of sensors in photovoltaic panel cleaning machines in high-latitude areas, a new cleaning machine technology is needed to solve the current problem. Summary of the Invention

[0005] The main purpose of the present invention is to solve the technical problem that the cleaning cost of photovoltaic panel machines in high-latitude areas is too high due to the complex external auxiliary structure and excessive number of sensors.

[0006] A first aspect of the present invention provides a suspended photovoltaic panel cleaning robot, the suspended photovoltaic panel cleaning robot comprising:

[0007] Guide rail mechanism, lifting mechanism, panel cleaning mechanism, pulley mechanism;

[0008] The guide rail mechanism is arranged on the side of the photovoltaic panel away from the ground, the lifting mechanism is installed on the guide rail mechanism, the panel cleaning mechanism is arranged on the sunlight irradiation surface of the photovoltaic panel, and the lifting mechanism and the panel cleaning mechanism are connected through the pulley mechanism.

[0009] Optionally, in a first implementation of the first aspect of the present invention, the pulley mechanism includes a suspension wire and a fixed pulley assembly, the lifting mechanism is provided with a winding hub, one end of the suspension wire is fixed to the lifting mechanism, and the other end of the suspension wire passes through the fixed pulley assembly provided by the panel cleaning mechanism and is fixed to the winding hub.

[0010] Optionally, in a second implementation of the first aspect of the present invention, the fixed pulley assembly includes a first fixed pulley and a second fixed pulley, the winding hub includes a first sub-hub and a second sub-hub, the first fixed pulley is arranged below the first sub-hub, and the second fixed pulley is arranged below the second sub-hub.

[0011] Optionally, in a third implementation of the first aspect of the present invention, the fixed pulley assembly further includes a third fixed pulley and a fourth fixed pulley, the suspension wire includes a first sub-suspension wire and a second sub-suspension wire, one end of the first sub-suspension wire is fixed to the lifting mechanism, the other end of the first sub-suspension wire passes through the third fixed pulley and the first fixed pulley and is fixed to the first sub-hub, one end of the second sub-suspension wire is fixed to the lifting mechanism, the other end of the second sub-suspension wire passes through the fourth fixed pulley and the second fixed pulley and is fixed to the second sub-hub.

[0012] Optionally, in a fourth implementation of the first aspect of the present invention, the guide rail mechanism includes a first guide rail and a second guide rail, and the lifting mechanism is provided with a first lateral pulley and a second lateral pulley, and the first lateral pulley and the second lateral pulley clamp the first guide rail and the second guide rail.

[0013] Optionally, in a fifth implementation of the first aspect of the present invention, the lifting mechanism is provided with a first rail surface pulley and a second rail surface pulley, the first rail surface pulley is installed on the first guide rail perpendicularly to the first lateral pulley, and the second rail surface pulley is installed on the second guide rail perpendicularly to the second lateral pulley.

[0014] Optionally, in a sixth implementation of the first aspect of the present invention, the lifting mechanism is provided with a slide rail motor, and the slide rail motor is connected to the first rail surface pulley shaft.

[0015] Optionally, in a seventh implementation of the first aspect of the present invention, the lifting mechanism is further provided with a winding motor, a winding wheel hub, a transmission mechanism, a limit gear, a first connecting rod, a second connecting rod, and a micro switch; the winding motor is connected to the winding wheel hub shaft, the winding wheel hub is fixedly connected to the transmission mechanism, the transmission mechanism is meshed with the limit gear, the first connecting rod and the second connecting rod are fixedly installed on the limit gear, the winding motor drives the winding wheel hub to rotate, and the winding wheel hub drives the limit gear to rotate through the transmission mechanism, a micro switch is provided on the rod end rotation trajectory of the first connecting rod and the second connecting rod, and the micro switch is provided with a first spring piece and a second spring piece on one side of the rod end rotation trajectory, and when the first spring piece or the second spring piece is pressed tightly, the winding motor stops rotating.

[0016] Optionally, in an eighth implementation of the first aspect of the present invention, the transmission mechanism includes: a hub transmission gear and a duplex gear, the winding hub is fixedly connected to the hub transmission gear, the hub transmission gear is meshed with the outer gear of the duplex gear, and the inner gear of the duplex gear is meshed with the limit gear.

[0017] Optionally, in a ninth implementation of the first aspect of the present invention, a first positioning ring is provided at one end of the first connecting rod, and a second positioning ring is provided at one end of the second connecting rod, the first positioning ring is fixed on the axis of the limiting gear, and the second positioning ring is fixedly installed on the axis of the first positioning ring.

[0018] In an embodiment of the present invention, taking advantage of the large inclination angle of photovoltaic panels in high-latitude areas, the photovoltaic cleaning device is configured to use a sliding rail mechanism for up-and-down cleaning and a guide rail mechanism for left-and-right cleaning. The lifting mechanism is set on the guide rail mechanism, and the guide rail mechanism is set on the side of the photovoltaic panel away from the ground. The decomposition force of gravity is used to make the panel cleaning mechanism move up and down along the photovoltaic panel, and the panel cleaning mechanism uses the decomposition force of gravity to clean closely against the photovoltaic panel. This solution combines the control of the sliding rail mechanism and the guide rail mechanism to not only efficiently achieve blind spot cleaning of the photovoltaic panel, but also reduces the complexity of the external auxiliary structure and the setting of sensors, which can effectively reduce the cost of machine cleaning of photovoltaic panels in high-latitude areas. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 This is a schematic diagram of a specific embodiment of a suspended photovoltaic panel cleaning robot according to an embodiment of the present invention;

[0020] Figure 2 A schematic diagram of a specific embodiment of the connection between the lifting mechanism and the panel cleaning mechanism of the suspended photovoltaic panel cleaning robot in an embodiment of the present invention;

[0021] Figure 3 This is a schematic diagram of another specific embodiment of the connection between the lifting mechanism and the panel cleaning mechanism of the suspended photovoltaic panel cleaning robot in an embodiment of the present invention;

[0022] Figure 4 A schematic diagram of a specific embodiment of the installation of the lifting mechanism and mechanism track of the suspended photovoltaic panel cleaning robot in an embodiment of the present invention;

[0023] Figure 5 This is a schematic diagram of a specific embodiment of the lifting mechanism of the suspended photovoltaic panel cleaning robot in an embodiment of the present invention;

[0024] Figure 6 An exploded schematic diagram of the lifting mechanism of the suspended photovoltaic panel cleaning robot according to an embodiment of the present invention;

[0025] Figure 7 The suspended photovoltaic panel cleaning robot in the embodiment of the present invention Figure 6 A magnified schematic diagram of area A.

[0026] Figure Number:

[0027] 10-guide rail mechanism, 20-lifting mechanism, 30-panel cleaning mechanism, 40-pulley mechanism, 50-photovoltaic panel, 201-winding hub, 301-fixed pulley assembly, 40X-suspension wire, 3011-first fixed pulley, 3012-second fixed pulley, 3013-third fixed pulley, 3014-fourth fixed pulley, 2011-first sub-hub, 2012-second sub-hub, 401-first sub-suspension wire, 402-second sub-suspension wire, 101-first guide rail, 102-second guide rail, 2021-first lateral pulley, 2 022-second lateral pulley, 2031-first rail pulley, 2032-second rail pulley, 204-slide motor, 205-winding motor, 206-transmission mechanism, 207-limiting gear, 2071-first connecting rod, 2072-second connecting rod, 208-micro switch, 2081-first spring clip, 2082-second spring clip, 2061-hub transmission gear, 2062-double gear, 20711-first positioning ring, 20721-second positioning ring, 20621-external gear, 20622-internal gear. DETAILED DESCRIPTION

[0028] An embodiment of the present invention provides a suspended photovoltaic panel cleaning robot.

[0029] The following describes embodiments of the present disclosure in more detail with reference to the accompanying drawings. Although certain embodiments of the present disclosure are shown in the accompanying drawings, it should be understood that the present disclosure can be implemented in various forms and should not be construed as limited to the embodiments described herein. Rather, these embodiments are provided to provide a more thorough and complete understanding of the present disclosure. It should be understood that the drawings and embodiments of the present disclosure are for illustrative purposes only and are not intended to limit the scope of protection of the present disclosure.

[0030] In the description of the embodiments disclosed herein, the term "including" and similar terms should be understood as open inclusion, i.e., "including but not limited to." The term "based on" should be understood as "based, at least in part, on." The term "one embodiment" or "the embodiment" should be understood as "at least one embodiment." The terms "first," "second," etc. may refer to different or the same objects. Other explicit and implicit definitions may also be included below.

[0031] For ease of understanding, the specific process of the embodiment of the present invention is described below. Figure 1A schematic diagram of a specific embodiment of a suspended photovoltaic panel cleaning robot according to an embodiment of the present invention includes a guide rail mechanism 10, a lifting mechanism 20, a panel cleaning mechanism 30, and a pulley mechanism 40. The guide rail mechanism 10 is positioned on the side of a photovoltaic panel 50 away from the ground, the lifting mechanism 20 is mounted on the guide rail mechanism 10, and the panel cleaning mechanism 30 is positioned on the sunlight-exposed surface of the photovoltaic panel 50. The panel cleaning mechanism 30 is moved up and down along the photovoltaic panel 50 using the decomposition force of gravity. The panel cleaning mechanism 30 utilizes the decomposition force of gravity to maintain close contact with the photovoltaic panel 50 for cleaning. The lifting mechanism 20 and the panel cleaning mechanism 30 are connected via the pulley mechanism 40. Since the angle a between the photovoltaic panel 50 and the horizontal ground in the high-latitude area is an acute angle, generally set in the range of 15-45 degrees, the guide rail mechanism 10 moves left and right along the guide rail mechanism 10 on the side of the photovoltaic panel 50 away from the ground. After reaching the photovoltaic panel 50 that needs to be cleaned, it drives the winding motor 205 to lower the panel cleaning mechanism 30 through the pulley mechanism 40 for cleaning, and then uses the pulley mechanism 40 to retract the panel cleaning mechanism 30 to achieve efficient cleaning of the photovoltaic panel 50.

[0032] In one embodiment, see Figure 2 , Figure 2 The following is a schematic diagram of a specific embodiment of the connection between the lifting mechanism and the panel cleaning mechanism of a suspended photovoltaic panel cleaning robot according to an embodiment of the present invention. This solution utilizes a single fixed pulley. The lifting mechanism 20 is provided with a winding hub 201. The pulley mechanism 40 includes a suspension wire 40X and a fixed pulley assembly 301. One end of the suspension wire 40X is fixed to the lifting mechanism 20, and the other end of the suspension wire 40X passes through the fixed pulley assembly 301 provided on the panel cleaning mechanism 30 and is fixed to the winding hub 201. Once a balanced state is established, one end of the suspension wire 40X can be fixed to a geometrically symmetrical point where the winding hub 201 retracts the suspension wire 40X. Furthermore, the fixed pulley assembly 301 is positioned at the center of gravity balance point of the panel cleaning mechanism 30. This allows a single fixed pulley to control the lifting and lowering of the panel cleaning mechanism.

[0033] In another embodiment, see Figure 3 , Figure 3This is a schematic diagram of another specific embodiment of the connection between the lifting mechanism and the panel cleaning mechanism of a suspended photovoltaic panel cleaning robot according to an embodiment of the present invention. This embodiment utilizes multiple fixed pulleys. The fixed pulley assembly 301 includes a first fixed pulley 3011 and a second fixed pulley 3012. The winding hub 201 includes a first sub-hub 2011 and a second sub-hub 2012. The first fixed pulley 3011 is positioned below the first sub-hub 2011, preferably vertically below it. The second fixed pulley 3012 is positioned vertically below the second sub-hub 2012, preferably vertically below it. The fixed pulley assembly 301 is further provided with a third fixed pulley 3013 and a fourth fixed pulley 3014. The suspension line 40X includes a first sub-suspension line 401 and a second sub-suspension line 402. One end of the first sub-suspension line 401 is fixed to the lifting mechanism 20, and the other end of the first sub-suspension line 402 passes through the third fixed pulley 3013 and the first fixed pulley 3011, which is fixed to the first sub-hub 2011. One end of the second sub-suspension line 402 is fixed to the lifting mechanism 20, and the other end of the second sub-suspension line 402 passes through the fourth fixed pulley 3014 and the second fixed pulley 3012, which is fixed to the second sub-hub 2012. The use of multiple fixed pulleys can achieve more stable lifting and lowering control of the panel cleaning mechanism 30, avoiding the situation where a single pulley is affected by side wind and causes the lifting direction to deviate. This makes the lifting and lowering control of the panel cleaning mechanism 30 more anti-interference and prevents excessive deviation under the influence of the actual environment in actual use.

[0034] In another embodiment, see Figure 4 , Figure 4The figure is a schematic diagram of a specific embodiment of the lifting mechanism and mechanism track installation of a suspended photovoltaic panel cleaning robot according to an embodiment of the present invention. The guide rail mechanism 10 includes: a first guide rail 101 and a second guide rail 102. The lifting mechanism 20 is provided with a first lateral pulley 2021 and a second lateral pulley 2022. The first lateral pulley 2021 and the second lateral pulley 2022 clamp the first guide rail 101 and the second guide rail 102. It should be noted that the lifting mechanism 20 can be provided with multiple pairs of lateral pulleys. The multiple pairs of lateral pulleys first guide rail 101 and second guide rail 102 realize the track clamping and guiding arrangement. This arrangement can ensure that the lifting mechanism 20 can move stably left and right on the guide rail mechanism 10. Furthermore, to reduce the frictional force of the lifting mechanism 20 during operation on the guide rail mechanism 10, the lifting mechanism 20 is provided with a first rail pulley 2031 and a second rail pulley 2032. The first rail pulley 2031 is mounted on the first guide rail 101 perpendicularly to the first lateral pulley 2021, and the second rail pulley 2032 is mounted on the second guide rail 102 perpendicularly to the second lateral pulley 2022. The lifting mechanism 20 is provided with a slide motor 204, which is axially connected to the first rail pulley 2031. This embodiment allows the lifting mechanism 20 to slide stably and with low friction on the guide rail mechanism 10, and the entire lifting mechanism 20 can be driven to the left or right by simply starting the slide motor 204.

[0035] In another embodiment, see Figure 5 , Figure 5 The figure is a schematic diagram of a specific embodiment of the lifting mechanism of the suspended photovoltaic panel cleaning robot in an embodiment of the present invention. The lifting mechanism 20 is further provided with a winding motor 205, a winding wheel hub 201, a transmission mechanism 206, a limit gear 207, a first connecting rod 2071, a second connecting rod 2072, and a micro switch 208; the winding motor 205 is connected to the winding wheel hub 201 axis, the winding wheel hub 201 is fixedly connected to the transmission mechanism 206, the transmission mechanism 206 is meshed with the limit gear 207, the limit gear 207 is fixedly mounted with the first connecting rod 2071 and the second connecting rod 2072, and the winding motor 205 drives the winding wheel hub 201 axis. The wheel hub 201 rotates, and the winding wheel hub 201 drives the limit gear 207 to rotate through the transmission mechanism 206. A micro switch 208 is provided on the rod end rotation trajectory of the first connecting rod 2071 and the second connecting rod 2072. The micro switch 208 is provided with a first spring piece 2081 and a second spring piece 2082 on one side of the rod end rotation trajectory. When the first spring piece 2081 or the second spring piece 2082 is pressed tightly, the micro switch 208 sends a rotation stop signal to the winding motor 205, so that the winding motor 205 stops rotating.

[0036] When the winding motor 205 rotates clockwise, the transmission mechanism 206 is driven to rotate counterclockwise through the winding wheel hub 201, and the limit gear 207 is rotated clockwise through the gear engagement. The first connecting rod 2071 rotates clockwise away from the first elastic piece 2081, and the second connecting rod 2072 rotates clockwise and abuts the second elastic piece 2082. After the second elastic piece 2082 is pressed against, the passage of the micro switch 208 is triggered, and the micro switch 208 stops the rotation of the winding motor 205. Similarly, when the winding motor 205 rotates counterclockwise, it is similar and will not be described in detail here. The rotation range of the winding wheel hub 201 is limited to the rotation angle range from the first connecting rod 2071 pressing against the first elastic piece 2081 to the second connecting rod 2082 pressing against the second elastic piece 2082. Based on the rotation angle range, setting the transmission ratio and the radius of the winding wheel hub 201 can effectively control the length of the hanging line running up and down of the winding wheel hub 201.

[0037] For further information, see Figure 6 , Figure 6 This is an exploded schematic diagram of the lifting mechanism of the suspended photovoltaic panel cleaning robot according to an embodiment of the present invention. Figure 7 , Figure 7 The suspended photovoltaic panel cleaning robot in the embodiment of the present invention Figure 6 An enlarged schematic diagram of area A. The transmission mechanism 206 includes a hub transmission gear 2061 and a duplex gear 2062. The winding hub 201 is fixedly connected to the hub transmission gear 2061 via a first mating component 2011. The winding hub 201 is fixedly connected to the winding motor 205 via a second mating component 2012. The hub transmission gear 2061 is meshed with the outer gear 20621 of the duplex gear 2062. The inner gear 20622 of the duplex gear 2062 is meshed with the limit gear 207. This solution utilizes the duplex gear 2062 to facilitate calculation of the transmission ratio and more effectively calculate the lifting and lowering limit distance of the suspension wire. This provides a more precise cleaning range when cleaning the photovoltaic panel 50, preventing the panel cleaning mechanism 30 from colliding with the lifting mechanism 20 and preventing the panel cleaning mechanism 30 from colliding with the ground, causing unnecessary damage.

[0038] A first positioning ring 20711 is provided at one end of the first connecting rod 2071, and a second positioning ring 20721 is provided at one end of the second connecting rod 2072. The first positioning ring 20711 is fixed to the axis of the limiting gear 207, and the second positioning ring 20721 is fixedly mounted on the axis of the first positioning ring 20711. The first positioning ring 20711 and the second positioning ring 20721 increase the contact area of the connecting rod, ensuring a stable relative positional relationship between the connecting rod and the gear, thereby ensuring transmission accuracy and improving the anti-interference performance of the entire cleaning device in high-latitude environments.

[0039] In an embodiment of the present invention, taking advantage of the large inclination angle of photovoltaic panels in high-latitude areas, the photovoltaic cleaning device is configured to use a sliding rail mechanism for up-and-down cleaning and a guide rail mechanism for left-and-right cleaning. The lifting mechanism is set on the guide rail mechanism, and the guide rail mechanism is set on the side of the photovoltaic panel away from the ground. The decomposition force of gravity is used to make the panel cleaning mechanism move up and down along the photovoltaic panel, and the panel cleaning mechanism uses the decomposition force of gravity to clean closely against the photovoltaic panel. This solution combines the control of the sliding rail mechanism and the guide rail mechanism to not only efficiently achieve blind spot cleaning of the photovoltaic panel, but also reduces the complexity of the external auxiliary structure and the setting of sensors, which can effectively reduce the cost of machine cleaning of photovoltaic panels in high-latitude areas.

[0040] In addition, although adopting specific order to describe each operation, this should be understood as requiring such operation to be carried out in the specific order shown or in sequential order, or requiring that all illustrated operations should be carried out to obtain desired results. Under certain circumstances, multitasking and parallel processing may be advantageous. Similarly, although comprising some specific implementation details in the above discussion, these should not be interpreted as limiting the scope of the present disclosure. Some features described in the context of separate embodiment can also be implemented in a single implementation in combination. On the contrary, the various features described in the context of a single implementation also can be implemented in a plurality of implementations individually or in the mode of any suitable subcombination.

[0041] Although the subject matter has been described in language specific to structural features and / or methodological logical acts, it should be understood that the subject matter defined in the appended claims is not necessarily limited to the specific features or acts described above. Rather, the specific features and acts described above are merely example forms of implementing the claims.

Claims

1. A suspended photovoltaic panel cleaning robot, characterized in that: The suspended photovoltaic panel cleaning robot comprises: Guide rail mechanism, lifting mechanism, panel cleaning mechanism, pulley mechanism; The guide rail mechanism is arranged on the side of the photovoltaic panel away from the ground, the lifting mechanism is installed on the guide rail mechanism, the panel cleaning mechanism is arranged on the sunlight irradiation surface of the photovoltaic panel, and the lifting mechanism and the panel cleaning mechanism are connected through the pulley mechanism.

2. The suspended photovoltaic panel cleaning robot according to claim 1, characterized in that: The pulley mechanism includes a suspension wire and a fixed pulley assembly. The lifting mechanism is provided with a winding wheel hub. One end of the suspension wire is fixed to the lifting mechanism, and the other end of the suspension wire passes through the fixed pulley assembly provided by the panel cleaning mechanism and is fixed to the winding wheel hub.

3. The suspended photovoltaic panel cleaning robot according to claim 2, characterized in that: The fixed pulley assembly includes a first fixed pulley and a second fixed pulley, and the winding hub includes a first sub-hub and a second sub-hub. The first fixed pulley is arranged below the first sub-hub, and the second fixed pulley is arranged below the second sub-hub.

4. The suspended photovoltaic panel cleaning robot according to claim 3, characterized in that: The fixed pulley assembly also includes a third fixed pulley and a fourth fixed pulley, and the suspension wire includes a first sub-suspension wire and a second sub-suspension wire, one end of the first sub-suspension wire is fixed to the lifting mechanism, and the other end of the first sub-suspension wire passes through the third fixed pulley and the first fixed pulley and is fixed to the first sub-hub, one end of the second sub-suspension wire is fixed to the lifting mechanism, and the other end of the second sub-suspension wire passes through the fourth fixed pulley and the second fixed pulley and is fixed to the second sub-hub.

5. The suspended photovoltaic panel cleaning robot according to claim 1, characterized in that: The guide rail mechanism includes a first guide rail and a second guide rail, and the lifting mechanism is provided with a first lateral pulley and a second lateral pulley, and the first lateral pulley and the second lateral pulley are provided to clamp the first guide rail and the second guide rail.

6. The suspended photovoltaic panel cleaning robot according to claim 5, characterized in that: The lifting mechanism is provided with a first rail surface pulley and a second rail surface pulley. The first rail surface pulley is installed on the first guide rail perpendicularly to the first lateral pulley, and the second rail surface pulley is installed on the second guide rail perpendicularly to the second lateral pulley.

7. The suspended photovoltaic panel cleaning robot according to claim 6, characterized in that: The lifting mechanism is provided with a slide rail motor, and the slide rail motor is connected to the first rail surface pulley shaft.

8. The suspended photovoltaic panel cleaning robot according to claim 1, characterized in that: The lifting mechanism is also provided with a winding motor, a winding hub, a transmission mechanism, a limit gear, a first connecting rod, a second connecting rod, and a micro switch; the winding motor is connected to the winding hub shaft, the winding hub is fixedly connected to the transmission mechanism, the transmission mechanism is meshed with the limit gear, the first connecting rod and the second connecting rod are fixedly installed on the limit gear, the winding motor drives the winding hub to rotate, and the winding hub drives the limit gear to rotate through the transmission mechanism, a micro switch is provided on the rod end rotation trajectory of the first connecting rod and the second connecting rod, and the micro switch is provided with a first elastic piece and a second elastic piece on one side of the rod end rotation trajectory, and when the first elastic piece or the second elastic piece is pressed tightly, the winding motor stops rotating.

9. The suspended photovoltaic panel cleaning robot according to claim 8, characterized in that: The transmission mechanism includes: a hub transmission gear and a duplex gear. The winding hub is fixedly connected to the hub transmission gear. The hub transmission gear is meshed with the outer gear of the duplex gear. The inner gear of the duplex gear is meshed with the limit gear.

10. The suspended photovoltaic panel cleaning robot according to any one of claims 8 or 9, characterized in that: A first positioning ring is provided at one end of the first connecting rod, and a second positioning ring is provided at one end of the second connecting rod. The first positioning ring is fixed on the axis of the limiting gear, and the second positioning ring is fixedly installed on the axis of the first positioning ring.

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