Photovoltaic panel cleaning robot

Abstract

The invention relates to a photovoltaic panel cleaning robot, and belongs to the technical field of photovoltaic panel cleaning. The robot comprises a power transmission device, a self-walking mechanism, a cleaning mechanism, an obstacle crossing mechanism, a moving motor module and a flushing mechanism. The power transmission device is used for providing cleaning power for the whole photovoltaic panel cleaning robot; the self-walking mechanism is used for walking on the photovoltaic panel; the cleaning mechanism is used for cleaning stains on the surface of the photovoltaic panel; the obstacle crossing mechanism is used for realizing the crossing of the photovoltaic panel cleaning robot among different photovoltaic panels; the moving motor module is used for providing power for the self-walking mechanism; the flushing mechanism is used for providing water for the cleaning mechanism. The structure compactness is ensured while the cleaning efficiency is improved.

Description

Technical Field

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

[0002] With the large-scale application of photovoltaic power generation technology, the accumulation of contaminants on the surface of photovoltaic panels has become a key factor limiting the efficiency of power plants. Research has shown that contaminants such as dust and bird droppings can significantly reduce the conversion efficiency of photovoltaic modules. Long-term contamination can also cause hot spot effects, accelerating module aging. Traditional manual cleaning methods are labor-intensive and unsafe, requiring workers to operate in harsh environments such as high temperatures and complex terrain, resulting in insufficient daily cleaning efficiency. Currently, mainstream cleaning equipment on the market has achieved mechanization, such as tracked cleaning robots, handheld cleaning devices, and drone spraying systems. However, these devices often suffer from structural design flaws: their mechanical systems often utilize rigid connections or integrated structures, resulting in inefficient transport between photovoltaic arrays and long installation and disassembly times for typical equipment. Furthermore, existing equipment lacks adaptability to installation parameters such as photovoltaic string length and spacing, making it difficult to meet the frequent relocation requirements of power plants in complex terrain. Therefore, there is an urgent need to develop a cleaning robot with a modular, quick-assembly structure. This design, through a reconfigurable mechanical unit design, allows for minute-by-minute disassembly and assembly, effectively improving equipment operation and maintenance efficiency and reducing the cost of electricity for photovoltaic power plants. This has become a key technological breakthrough in the field of intelligent photovoltaic operation and maintenance equipment. After summarizing and analyzing photovoltaic panel cleaning robots at home and abroad, a photovoltaic panel cleaning robot that integrates flushing and cleaning, obstacle crossing, and self-propelled movement was designed. Summary of the Invention

[0003] The technical problem to be solved by the present invention is: the present invention provides a photovoltaic panel cleaning robot for cleaning solar photovoltaic panels. The present invention has stable walking and significantly improves cleaning efficiency and stain removal effect.

[0004] The technical solution of the present invention is: a photovoltaic panel cleaning robot, comprising a power transmission device 1, a self-propelled mechanism 2, a cleaning mechanism 3, an obstacle crossing mechanism 4, a mobile motor module 5, and a flushing mechanism 6;

[0005] The power transmission device 1 is used to provide cleaning power for the entire photovoltaic panel cleaning robot;

[0006] The self-propelled mechanism 2 is used to realize walking on the photovoltaic panel;

[0007] The cleaning mechanism 3 is used to clean stains on the surface of the photovoltaic panel;

[0008] The obstacle crossing mechanism 4 is used to enable the photovoltaic panel cleaning robot to cross between different photovoltaic panels;

[0009] The mobile motor module 5 is used to provide power to the self-propelled mechanism 2;

[0010] The flushing mechanism 6 is used to provide water to the cleaning mechanism 3 .

[0011] Furthermore, the power transmission device 1 is used to provide cleaning power for the entire photovoltaic panel cleaning robot; the motor 1-1 is connected to the reducer 1-2, which transmits power to the driving pulley 1-4 through the reducer 1-2, and the driving pulley 1-4 transmits power to the other three driven pulleys 1-6 through belts. The three driven pulleys 1-6 are connected to the cleaning mechanism 3, thereby driving the cleaning mechanism 3 to move;

[0012] The self-propelled mechanism 2 is used to realize walking on the photovoltaic panel. The mobile motor module 5 transmits power to the two driving wheels 2-4 of the self-propelled mechanism 2 respectively, driving the driving wheels 2-4 to move forward. The self-propelled mechanism 2 is also equipped with two upper and lower auxiliary wheels 2-3, which provide support and auxiliary walking functions for the entire photovoltaic panel cleaning robot.

[0013] The cleaning mechanism 3 is used to clean the surface of the photovoltaic panel. The power is provided by the power transmission device 1, and the cleaning mechanism cooperates with the flushing mechanism 6 to achieve the water washing function of the photovoltaic panel surface.

[0014] The obstacle crossing mechanism 4 is used to enable the device to cross between different photovoltaic panels. There is a raised bearing support on the self-propelled mechanism 2, which is connected and matched with the middle roller brush 3-2 of the cleaning mechanism 3 through a linear bearing 4-2. The obstacle crossing function is achieved through the relative rotation between the self-propelled mechanism 2 and the cleaning mechanism 3;

[0015] The mobile motor module 5 is used to provide power to the self-propelled mechanism 2. The mobile motor module 5 is equipped with a control box, and the bottom of the mobile motor module 5 is directly connected to the driving wheels 2-4;

[0016] The flushing mechanism 6 is used to provide a water source to the cleaning mechanism 3. The upper surface of the flushing mechanism 6 is connected to the motor support and the reducer fixing frame of the power transmission mechanism 1 by bolts. At the same time, the upper surface is also connected to the roller brush fixing plate 4-3 by bolts. The three roller brush shafts of the cleaning structure 3 are respectively fixed on the roller brush fixing plate 4-3 by rolling bearings. The roller brush fixing plate 4-3 is used as an intermediate connecting member to connect and fix the flushing mechanism 6 to the cleaning mechanism 3. Secondly, the right side of the flushing mechanism 6 is connected to the left side of the pulley fixing box 1-3 by bolts. At the same time, the flushing mechanism 6 also serves as the intermediate connection of the entire cleaning robot.

[0017] Furthermore, the power transmission device 1 includes a motor 1-1, a reducer 1-2, a pulley fixing box 1-3, a driving pulley 1-4, a belt 1-5, and a driven pulley 1-6;

[0018] The motor 1-1 is connected to the reducer 1-2, and the motor 1-1 transmits power to the driving pulley 1-4 through the reducer 1-2. The driving pulley 1-4 transmits power to three driven pulleys 1-6 through the belt 1-5. The belt 1-5 is placed above the middle driven pulley 1-6 at the bottom. The middle driven pulley 1-6 at the bottom forms an opposite rotation direction with the two driven pulleys 1-6 on both sides of it; the pulley fixing box 1-3 fixes the four pulleys and prevents dust from entering.

[0019] Furthermore, the self-propelled mechanism 2 includes an auxiliary wheel fixing plate 2-1, an auxiliary wheel fixing member 2-2, an auxiliary wheel 2-3, a driving wheel 2-4, and a driving wheel cover 2-5;

[0020] The auxiliary wheel 2-3 is installed between the auxiliary wheel fixing plate 2-1) and the auxiliary wheel fixing part 2-2, and sliding bearings are installed on the inner sides of the auxiliary wheel fixing plate 2-1 and the auxiliary wheel fixing part 2-2; the lower side of the auxiliary wheel fixing plate 2-1 is connected to the driving wheel cover 2-5 to form upper and lower limit stops, which assists in sliding while supporting the entire photovoltaic panel cleaning robot; the driving wheel 2-4 is fixed in the middle of the driving wheel cover 2-5, and the driving wheel 2-4 cooperates with the upper and lower rows of auxiliary wheels 2-3 to achieve stable walking of the cleaning robot on the photovoltaic panel; at the same time, one end of the auxiliary wheel fixing part 2-2 forms a certain angle with the horizontal plane. When encountering two photovoltaic panels with inconsistent heights, the self-propelled mechanism 2 can use the angle difference to cross the photovoltaic panels with inconsistent heights, thereby achieving a certain obstacle crossing function.

[0021] Furthermore, the cleaning mechanism 3 includes roller brushes 3-1 at both ends and a middle roller brush 3-2; the power transmission device 1 transmits power to the roller brushes 3-1 at both ends and the middle roller brush 3-2 respectively through three driven pulleys 1-6, driving the roller brushes to rotate; the rotation directions of the roller brushes 3-1 at both ends are the same, and the rotation directions of the middle roller brush 3-2 and the roller brushes 3-1 at both ends are opposite; under waterless conditions, the photovoltaic panels can also be cleaned by the rotational movement of the roller brushes; both ends of the middle roller brush 3-2 are connected to the self-propelled mechanism 2, wherein the left end is fixed to the protruding bearing support on the self-propelled mechanism 2 through a linear bearing 4-2, and the right end is connected to the auxiliary wheel fixing plate 2-1 of the self-propelled mechanism 2 through a rolling bearing, and at the same time, the roller brush shaft at the right end passes through the auxiliary wheel fixing plate 2-1 and is connected to the middle driven pulley 1-6;

[0022] The left end roller brush shaft of the roller brush 3-1 at both ends is fixed on the roller brush fixing plate 4-3 through a rolling bearing, while the right end is connected to the auxiliary wheel fixing plate 2-1 of the self-propelled mechanism 2 through a rolling bearing. At the same time, the roller brush shaft at the right end passes through the auxiliary wheel fixing plate 2-1 and is connected to the driven pulleys 1-6 at both ends; in this way, the right ends of the three roller brushes are all connected and fixed to the self-propelled mechanism 2 at the right end, and at the left end, only the middle roller brush 3-2 is connected to the self-propelled mechanism at the left end. In this way, when the self-propelled mechanism 2 at the left end rotates when encountering an obstacle, it will not drive the entire cleaning mechanism 3 to rotate together, so that the left end rotates while the middle and right ends do not rotate together.

[0023] Furthermore, the obstacle crossing mechanism 4 includes an end cover 4-1, a linear bearing 4-2, and a roller brush fixing plate 4-3; the intermediate roller brush 3-2 passes through the roller brush fixing plate 4-3, and is connected to the protruding bearing support on the self-propelled mechanism 2 through the linear bearing 4-2, and the bearing support is sealed with the end cover 4-1.

[0024] Furthermore, the mobile motor module 5 is used to provide power to the self-propelled mechanism 2. The mobile motor module 5 is equipped with a control box, and the mobile motor module 5 is directly connected to the driving wheels 2-4 of the self-propelled mechanism 2 from the bottom.

[0025] Furthermore, the flushing mechanism 6 includes a cover plate 6-1 and a flushing strip 6-2; the upper surface of the cover plate 6-1 is respectively fixed to the roller brush fixing plate 4-3, the motor fixing frame and the reducer fixing frame by bolts, and the flushing strip 6-2 is fixed to the lower surface of the cover plate 6-1 by bolts. The water pipe sends water to the flushing strip 6-2 and sprays it out from the flushing port to achieve the purpose of flushing the photovoltaic panel.

[0026] The beneficial effects of the present invention are:

[0027] 1. Efficient cleaning and power distribution design: The power transmission device uses a reducer and multi-pulley linkage design to synchronously distribute the motor power to three driven pulleys. The lower middle pulley rotates in the opposite direction to the pulleys on both sides, driving the cleaning mechanism's roller brushes to form different rotation directions (the roller brushes at both ends rotate in the same direction, and the middle roller brush rotates in the opposite direction), significantly improving cleaning efficiency and stain removal effects. At the same time, the pulley fixing plate also has a dust-proof function, extending the life of the equipment.

[0028] 2. Adaptive obstacle crossing and stable walking capabilities: The self-propelled mechanism adopts a coordinated structure of dual auxiliary wheels and active wheels. Sliding bearings are configured on the inner sides of the auxiliary wheel fixing plate and the fixing parts, and combined with upper and lower limit designs to achieve stable support. When the heights of the photovoltaic panels are inconsistent, the angle difference between the auxiliary wheels and the active wheels can be automatically adjusted to achieve obstacle crossing. The obstacle crossing mechanism further ensures walking stability on the complex angle connection frame through the linkage design of linear bearings and roller brush fixing plates.

[0029] 3. Integrated water washing and modular collaboration: The cleaning mechanism and the flushing mechanism are deeply integrated. The flushing bar is fixed to the middle connection position through a cover plate. Water is sprayed directly to the cleaning area, and cooperates with the counter-rotating roller brush to achieve a "dry brush-water washing" dual cleaning mode; the power transmission device, cleaning mechanism, flushing mechanism and self-propelled mechanism are integrated with the fixed plate through a shaft system, which improves cleaning efficiency while ensuring structural compactness. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] Figure 1 It is a schematic diagram of the overall three-dimensional structure of the present invention;

[0031] Figure 2 It is a front view and a right side view of the power transmission device;

[0032] Figure 3 This is the plan view of the motor and reducer;

[0033] Figure 4 This is a schematic diagram of the coordination between the motor and the reducer;

[0034] Figure 5 The front view and right view of the self-propelled mechanism;

[0035] Figure 6 This is a schematic diagram of the installation of the cleaning mechanism;

[0036] Figure 7 It is a structural diagram of the obstacle crossing mechanism;

[0037] Figure 8 Schematic diagram of the flushing mechanism;

[0038] Figure 9 It is a front view of the roller brush fixing plate;

[0039] Figure 10 It is a schematic diagram of the assembly of the roller brush fixing plate and the roller brush shafts at both ends.

[0040] The numbers in the figure are: 1-power transmission device, 2-self-propelled mechanism, 3-cleaning mechanism, 4-obstacle crossing mechanism, 5-mobile motor module, 6-flushing mechanism, 1-1-electric motor, 1-2-reducer, 1-3-pulley fixing box, 1-4-driving pulley, 1-5-belt, 1-6-driven pulley, 2-1-auxiliary wheel fixing plate, 2-2-auxiliary wheel fixing part, 2-3-auxiliary wheel, 2-4-driving wheel, 2-5-driving wheel cover, 3-1-roller brushes at both ends, 3-2-middle roller brush, 4-1-end cover, 4-2-linear bearing, 4-3-roller brush fixing plate, 6-1-cover plate, 6-2-flushing strip. DETAILED DESCRIPTION

[0041] The present invention will be further described below with reference to the accompanying drawings and specific embodiments.

[0042] Example 1: Figures 1-10 As shown, a photovoltaic panel cleaning robot includes a power transmission device 1, a self-propelled mechanism 2, a cleaning mechanism 3, an obstacle crossing mechanism 4, a mobile motor module 5, and a flushing mechanism 6;

[0043] The power transmission device 1 is used to provide cleaning power for the entire photovoltaic panel cleaning robot;

[0044] The self-propelled mechanism 2 is used to realize walking on the photovoltaic panel;

[0045] The cleaning mechanism 3 is used to clean stains on the surface of the photovoltaic panel;

[0046] The obstacle crossing mechanism 4 is used to enable the photovoltaic panel cleaning robot to cross between different photovoltaic panels;

[0047] The mobile motor module 5 is used to provide power to the self-propelled mechanism 2;

[0048] The flushing mechanism 6 is used to provide water to the cleaning mechanism 3 .

[0049] Furthermore, the power transmission device 1 is used to provide cleaning power for the entire photovoltaic panel cleaning robot; the motor 1-1 is connected to the reducer 1-2, which transmits power to the driving pulley 1-4 through the reducer 1-2, and the driving pulley 1-4 transmits power to the other three driven pulleys 1-6 through belts. The three driven pulleys 1-6 are connected to the cleaning mechanism 3, thereby driving the cleaning mechanism 3 to move;

[0050] The self-propelled mechanism 2 is used to realize walking on the photovoltaic panel. The mobile motor module 5 transmits power to the two driving wheels 2-4 of the self-propelled mechanism 2 respectively, driving the driving wheels 2-4 to move forward. The self-propelled mechanism 2 is also equipped with two upper and lower auxiliary wheels 2-3, which provide support and auxiliary walking functions for the entire photovoltaic panel cleaning robot.

[0051] The cleaning mechanism 3 is used to clean the surface of the photovoltaic panel. The power is provided by the power transmission device 1, and the cleaning mechanism cooperates with the flushing mechanism 6 to achieve the water washing function of the photovoltaic panel surface.

[0052] The obstacle crossing mechanism 4 is used to enable the device to cross between different photovoltaic panels. There is a raised bearing support on the self-propelled mechanism 2, which is connected and matched with the middle roller brush 3-2 of the cleaning mechanism 3 through a linear bearing 4-2. The obstacle crossing function is achieved through the relative rotation between the self-propelled mechanism 2 and the cleaning mechanism 3;

[0053] The mobile motor module 5 is used to provide power to the self-propelled mechanism 2. The mobile motor module 5 is equipped with a control box, and the bottom of the mobile motor module 5 is directly connected to the driving wheels 2-4;

[0054] The flushing mechanism 6 is used to provide a water source to the cleaning mechanism 3. The upper surface of the flushing mechanism 6 is connected to the motor support and the reducer fixing frame of the power transmission mechanism 1 by bolts. At the same time, the upper surface is also connected to the roller brush fixing plate 4-3 by bolts. The three roller brush shafts of the cleaning structure 3 are respectively fixed on the roller brush fixing plate 4-3 by rolling bearings. The roller brush fixing plate 4-3 is used as an intermediate connecting member to connect and fix the flushing mechanism 6 to the cleaning mechanism 3. Secondly, the right side of the flushing mechanism 6 is connected to the left side of the pulley fixing box 1-3 by bolts. At the same time, the flushing mechanism 6 also serves as the intermediate connection of the entire cleaning robot.

[0055] Furthermore, the power transmission device 1 includes a motor 1-1, a reducer 1-2, a pulley fixing box 1-3, a driving pulley 1-4, a belt 1-5, and a driven pulley 1-6;

[0056] The motor 1-1 is connected to the reducer 1-2, and the motor 1-1 transmits power to the driving pulley 1-4 through the reducer 1-2. The driving pulley 1-4 transmits power to the three driven pulleys 1-6 through the belt 1-5. In order to increase the contact area of ​​the belt 1-5, the belt 1-5 is placed above the lower middle driven pulley 1-6. The lower middle driven pulley 1-6 forms an opposite rotation direction with the two driven pulleys 1-6 on both sides of it, thereby improving the cleaning quality of the photovoltaic panel; the pulley fixing box 1-3 fixes the four pulleys while preventing dust from entering.

[0057] Furthermore, the self-propelled mechanism 2 includes an auxiliary wheel fixing plate 2-1, an auxiliary wheel fixing member 2-2, an auxiliary wheel 2-3, a driving wheel 2-4, and a driving wheel cover 2-5;

[0058] The auxiliary wheel 2-3 is installed between the auxiliary wheel fixing plate 2-1) and the auxiliary wheel fixing part 2-2, and sliding bearings are installed on the inner sides of the auxiliary wheel fixing plate 2-1 and the auxiliary wheel fixing part 2-2; the lower side of the auxiliary wheel fixing plate 2-1 is connected to the driving wheel cover 2-5 to form upper and lower limit stops, which assists in sliding while supporting the entire photovoltaic panel cleaning robot; the driving wheel 2-4 is fixed in the middle of the driving wheel cover 2-5, and the driving wheel 2-4 cooperates with the upper and lower rows of auxiliary wheels 2-3 to achieve stable walking of the cleaning robot on the photovoltaic panel; at the same time, one end of the auxiliary wheel fixing part 2-2 forms a certain angle with the horizontal plane. When encountering two photovoltaic panels with inconsistent heights, the self-propelled mechanism 2 can use the angle difference to cross the photovoltaic panels with inconsistent heights, thereby achieving a certain obstacle crossing function.

[0059] Furthermore, the cleaning mechanism 3 includes roller brushes 3-1 at both ends and a middle roller brush 3-2; the power transmission device 1 transmits power to the roller brushes 3-1 at both ends and the middle roller brush 3-2 respectively through three driven pulleys 1-6, driving the roller brushes to rotate; the rotation directions of the roller brushes 3-1 at both ends are the same, and the rotation directions of the middle roller brush 3-2 and the roller brushes 3-1 at both ends are opposite; under waterless conditions, the photovoltaic panels can also be cleaned by the rotational movement of the roller brushes; both ends of the middle roller brush 3-2 are connected to the self-propelled mechanism 2, wherein the left end is fixed to the protruding bearing support on the self-propelled mechanism 2 through a linear bearing 4-2, and the right end is connected to the auxiliary wheel fixing plate 2-1 of the self-propelled mechanism 2 through a rolling bearing, and at the same time, the roller brush shaft at the right end passes through the auxiliary wheel fixing plate 2-1 and is connected to the middle driven pulley 1-6;

[0060] The left end roller brush shaft of the roller brush 3-1 at both ends is fixed on the roller brush fixing plate 4-3 through a rolling bearing, while the right end is connected to the auxiliary wheel fixing plate 2-1 of the self-propelled mechanism 2 through a rolling bearing. At the same time, the roller brush shaft at the right end passes through the auxiliary wheel fixing plate 2-1 and is connected to the driven pulleys 1-6 at both ends; in this way, the right ends of the three roller brushes are all connected and fixed to the self-propelled mechanism 2 at the right end, and at the left end, only the middle roller brush 3-2 is connected to the self-propelled mechanism at the left end. In this way, when the self-propelled mechanism 2 at the left end rotates when encountering an obstacle, it will not drive the entire cleaning mechanism 3 to rotate together, so that the left end rotates while the middle and right ends do not rotate together.

[0061] Furthermore, the obstacle-crossing mechanism 4 comprises an end cap 4-1, a linear bearing 4-2, and a roller brush mounting plate 4-3. The intermediate roller brush 3-2 passes through the roller brush mounting plate 4-3 and is connected to a protruding bearing support on the self-propelled mechanism 2 via the linear bearing 4-2. The bearing support is also sealed with the end cap 4-1. Because the entire left end of the cleaning robot is connected to the rest of the mechanism solely via the intermediate roller brush 3-2, the robot can overcome obstacles when encountering photovoltaic panels or panel mounts with inconsistent angles at both ends during cleaning by using the relative rotation of the two ends.

[0062] Furthermore, the mobile motor module 5 is used to provide power to the self-propelled mechanism 2. The mobile motor module 5 is equipped with a control box, and the mobile motor module 5 is directly connected to the driving wheels 2-4 of the self-propelled mechanism 2 from the bottom.

[0063] Furthermore, the flushing mechanism 6 includes a cover plate 6-1 and a flushing strip 6-2; the upper surface of the cover plate 6-1 is respectively fixed to the roller brush fixing plate 4-3, the motor fixing frame and the reducer fixing frame by bolts, and the flushing strip 6-2 is fixed to the lower surface of the cover plate 6-1 by bolts. The water pipe sends water to the flushing strip 6-2 and sprays it out from the flushing port to achieve the purpose of flushing the photovoltaic panel.

[0064] When the equipment is working, workers need to install the entire device on the photovoltaic panel, then start the motor to start working. Workers only need to connect the water pipe to the water inlet and the machine can work normally.

[0065] The present invention uses an electric motor fixed on the flushing mechanism as the cleaning power. The electric motor is connected to the pulley through a reducer, and the power is transmitted to the three cleaning brush cylinders respectively through the pulley. Through the rotation of the brush cylinder and the coordination of the flushing mechanism, the cleaning function of the photovoltaic panel is realized. The self-propelled mechanism uses a separate reduction motor as the power. The reduction motor is directly connected to the driving wheel. The driving wheel drives the upper and lower auxiliary wheel mechanisms to move synchronously while walking. The auxiliary wheel mechanism not only assists in walking but also plays the role of supporting the entire robot. The obstacle crossing mechanism is connected to the auxiliary wheel mechanism through a linear bearing to realize the rotation function. The self-propelled and obstacle crossing functions of the cleaning robot are finally realized by the mutual coordination of the inclination angle of the auxiliary wheel mechanism and the obstacle crossing mechanism, thereby improving the cleaning efficiency and versatility of the photovoltaic panel robot for multiple rows of photovoltaic panels.

[0066] The specific embodiments of the present invention are described in detail above with reference to the accompanying drawings. However, the present invention is not limited to the above embodiments. Various changes can be made within the knowledge of ordinary technicians in this field without departing from the scope of the present invention.

Claims

1. A photovoltaic panel cleaning robot, characterized by: It comprises a power transmission device (1), a self-propelled mechanism (2), a cleaning mechanism (3), an obstacle-crossing mechanism (4), a mobile motor module (5), and a flushing mechanism (6); The power transmission device (1) is used to provide cleaning power for the entire photovoltaic panel cleaning robot; The self-propelled mechanism (2) is used to realize walking on the photovoltaic panel; The cleaning mechanism (3) is used to clean stains on the surface of the photovoltaic panel; The obstacle crossing mechanism (4) is used to enable the photovoltaic panel cleaning robot to cross between different photovoltaic panels; The mobile motor module (5) is used to provide power to the self-propelled mechanism (2); The flushing mechanism (6) is used to provide a water source to the cleaning mechanism (3).

2. The photovoltaic panel cleaning robot according to claim 1, characterized in that: The power transmission device (1) is used to provide cleaning power for the entire photovoltaic panel cleaning robot; the motor (1-1) is connected to the reducer (1-2), and the power is transmitted to the driving pulley (1-4) through the reducer (1-2); the driving pulley (1-4) transmits the power to the other three driven pulleys (1-6) through belts; the three driven pulleys (1-6) are connected to the cleaning mechanism (3), thereby driving the cleaning mechanism (3) to move; The self-propelled mechanism (2) is used to realize walking on the photovoltaic panel. The mobile motor module (5) transmits power to the two driving wheels (2-4) of the self-propelled mechanism (2) respectively, driving the driving wheels (2-4) to move forward. The self-propelled mechanism (2) is also equipped with two upper and lower auxiliary wheels (2-3) to provide support and auxiliary walking functions for the entire photovoltaic panel cleaning robot. The cleaning mechanism (3) is used to clean stains on the surface of the photovoltaic panel. The power is provided by the power transmission device (1). The cleaning mechanism (3) cooperates with the flushing mechanism (6) to realize the water washing function on the surface of the photovoltaic panel. The obstacle crossing mechanism (4) is used to enable the device to cross between different photovoltaic panels. A raised bearing support is provided on the self-propelled mechanism (2), which is connected and matched with the middle roller brush (3-2) of the cleaning mechanism (3) via a linear bearing (4-2). The obstacle crossing function is achieved through relative rotation between the self-propelled mechanism (2) and the cleaning mechanism (3); The mobile motor module (5) is used to provide power to the self-propelled mechanism (2). The mobile motor module (5) is equipped with a control box on the top, and the mobile motor module (5) is directly connected to the driving wheel (2-4) on the bottom; The flushing mechanism (6) is used to provide a water source for the cleaning mechanism (3). The upper surface of the flushing mechanism (6) is connected to the motor support and the reducer fixing frame of the power transmission mechanism (1) by bolts. At the same time, the upper surface is also connected to the roller brush fixing plate (4-3) by bolts. The three roller brush shafts of the cleaning structure (3) are respectively fixed on the roller brush fixing plate (4-3) by rolling bearings. The flushing mechanism (6) is connected and fixed to the cleaning mechanism (3) by the roller brush fixing plate (4-3) as an intermediate connecting member. Secondly, the right side of the flushing mechanism (6) is connected to the left side of the pulley fixing box (1-3) by bolts. At the same time, the flushing mechanism (6) also serves as the intermediate connection of the entire cleaning robot.

3. The photovoltaic panel cleaning robot according to claim 1, characterized in that: The power transmission device (1) comprises a motor (1-1), a speed reducer (1-2), a pulley fixing box (1-3), a driving pulley (1-4), a belt (1-5), and a driven pulley (1-6); The motor (1-1) is connected to a reducer (1-2); the motor (1-1) transmits power to a driving pulley (1-4) through the reducer (1-2); the driving pulley (1-4) transmits power to three driven pulleys (1-6) through a belt (1-5); the belt (1-5) is placed above the driven pulley (1-6) in the middle below; the driven pulley (1-6) in the middle below and the two driven pulleys (1-6) on its two sides form opposite rotation directions; and the pulley fixing box (1-3) fixes the four pulleys and prevents dust from entering.

4. The photovoltaic panel cleaning robot according to claim 1, characterized in that: The self-propelled mechanism (2) comprises an auxiliary wheel fixing plate (2-1), an auxiliary wheel fixing member (2-2), an auxiliary wheel (2-3), a driving wheel (2-4), and a driving wheel cover (2-5); The auxiliary wheel (2-3) is installed between the auxiliary wheel fixing plate (2-1) and the auxiliary wheel fixing member (2-2), and sliding bearings are installed on the inner sides of the auxiliary wheel fixing plate (2-1) and the auxiliary wheel fixing member (2-2); the lower side of the auxiliary wheel fixing plate (2-1) is connected to the driving wheel blocking cover (2-5), forming upper and lower limit stops, which assists in sliding while supporting the entire photovoltaic panel cleaning robot; the driving wheel (2-4) is fixed in the middle of the driving wheel blocking cover (2-5), and the driving wheel (2-4) cooperates with the upper and lower rows of auxiliary wheels (2-3) to achieve stable walking of the cleaning robot on the photovoltaic panel; at the same time, one end of the auxiliary wheel fixing member (2-2) forms a certain angle with the horizontal plane, so when encountering two photovoltaic panels with inconsistent heights, the self-propelled mechanism (2) can use the angle difference to cross the photovoltaic panels with inconsistent heights, thereby achieving a certain obstacle crossing function.

5. The photovoltaic panel cleaning robot according to claim 1, characterized in that: The cleaning mechanism (3) comprises roller brushes at both ends (3-1) and a middle roller brush (3-2); the power transmission device (1) transmits power to the roller brushes at both ends (3-1) and the middle roller brush (3-2) respectively through three driven pulleys (1-6), driving the roller brushes to rotate; wherein the rotation directions of the roller brushes at both ends (3-1) are consistent, and the rotation directions of the middle roller brush (3-2) and the roller brushes at both ends (3-1) are opposite; under waterless conditions, the photovoltaic panel can also be cleaned by the rotational movement of the roller brushes; the two ends of the middle roller brush (3-2) are connected to the self-propelled mechanism (2), wherein the left end is fixed to the bearing support protruding from the self-propelled mechanism (2) through a linear bearing (4-2), and the right end is connected to the auxiliary wheel fixing plate (2-1) of the self-propelled mechanism (2) through a rolling bearing, and the roller brush shaft at the right end passes through the auxiliary wheel fixing plate (2-1) and is connected to the middle driven pulley (1-6); The left end roller brush shafts of the roller brushes (3-1) at both ends are fixed to the roller brush fixing plate (4-3) through rolling bearings, while the right ends are connected to the auxiliary wheel fixing plate (2-1) of the self-propelled mechanism (2) through rolling bearings. At the same time, the roller brush shaft at the right end passes through the auxiliary wheel fixing plate (2-1) and is connected to the driven pulleys (1-6) at both ends. In this way, the right ends of the three roller brushes are all connected and fixed to the self-propelled mechanism (2) at the right end, while only the middle roller brush (3-2) at the left end is connected to the self-propelled mechanism at the left end. In this way, when the self-propelled mechanism (2) at the left end rotates when encountering an obstacle, it will not drive the entire cleaning mechanism (3) to rotate together, thereby achieving the rotation of the left end while the middle and right ends do not rotate together.

6. The photovoltaic panel cleaning robot according to claim 1, characterized in that: The obstacle crossing mechanism (4) comprises an end cover (4-1), a linear bearing (4-2), and a roller brush fixing plate (4-3); the intermediate roller brush (3-2) passes through the roller brush fixing plate (4-3) and is connected to a protruding bearing support on the self-propelled mechanism (2) via the linear bearing (4-2), while the bearing support is sealed by the end cover (4-1).

7. The photovoltaic panel cleaning robot according to claim 1, characterized in that: The mobile motor module (5) is used to provide power to the self-propelled mechanism (2). The mobile motor module (5) is equipped with a control box on the top, and the mobile motor module (5) is directly connected to the driving wheels (2-4) of the self-propelled mechanism (2) on the bottom.

8. The photovoltaic panel cleaning robot according to claim 1, characterized in that: The flushing mechanism (6) comprises a cover plate (6-1) and a flushing strip (6-2); the upper surface of the cover plate (6-1) is respectively connected and fixed to the roller brush fixing plate (4-3), the motor fixing frame and the reducer fixing frame by bolts; the flushing strip (6-2) is fixed to the lower surface of the cover plate (6-1) by bolts; a water pipe sends water into the flushing strip (6-2) and sprays water out from the flushing port, thereby achieving the effect of flushing the photovoltaic panel.

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