Flat brush type photovoltaic cleaning robot based on steel wire rope transmission

Abstract

The invention discloses a flat brush type photovoltaic cleaning robot based on steel wire rope transmission, and relates to the technical field of robots, the flat brush type photovoltaic cleaning robot comprises a photovoltaic panel and a driving box arranged on one side of the photovoltaic panel, an auxiliary frame is fixedly connected to the interior of the driving box, and a servo motor is installed on one side of the auxiliary frame; the output end of the servo motor penetrates out of the auxiliary frame and is fixedly connected with a second traction wheel, and a tensioning wheel is arranged at the front end of the auxiliary frame; and a cleaning frame of the photovoltaic cleaning robot is mounted above the photovoltaic panel. Through cooperation of parts such as the driving assembly and the combined design of annular closed steel wire rope transmission, corner wheel guiding and double-auxiliary-wheel positioning, the synchronous belt wheel amp is accurately avoided; a crawler belt and a chain drive amp; all core defects of two main stream structures of wheels and wheels are overcome, the transmission effects of low maintenance, strong environment adaptation and high long-term reliability are achieved, and therefore the overall practicability of the device is further improved.

Description

Technical Field

[0001] This invention relates to the field of robotics, specifically to a flat-brush photovoltaic cleaning robot based on wire rope transmission. Background Technology

[0002] With the rapid growth of global photovoltaic (PV) power generation capacity, the impact of PV module surface cleanliness on power generation efficiency is becoming increasingly prominent. Dust, bird droppings, sand, and other pollutants can severely reduce the light transmittance of PV modules. Experimental data shows that dust accumulation can lead to a 10%-30% decrease in module power generation, and even higher percentages in harsh environments. Against this backdrop, automated PV cleaning robots have become a core component in solving this problem. Their transmission system, as the core of power transmission for walking and cleaning actions, directly determines the robot's operational stability, environmental adaptability, and maintenance costs.

[0003] Currently, the transmission solutions of mainstream photovoltaic cleaning robots are mainly divided into two categories, but both have significant limitations in adapting to complex outdoor working conditions: Synchronous belt pulley and track structure: This structure uses a motor to drive the synchronous belt pulley, which in turn drives the track (or synchronous belt) to engage with the photovoltaic module frame for movement. However, the synchronous belt is prone to aging and cracking due to prolonged exposure to outdoor UV radiation, and it is also susceptible to loosening due to tension fluctuations, requiring frequent replacement. The track structure itself is heavy, placing stringent requirements on the flatness of the photovoltaic module mounting surface (it needs to be nearly perfectly level). It has poor adaptability to tilted photovoltaic arrays, and in dusty or muddy environments, foreign objects can easily cause transmission jamming, severely impacting the continuity of cleaning operations. Due to its excessive weight, this type of robot is also unsuitable for applications involving lightweight modules, flexible support components, or floating power stations.

[0004] Chain drive and wheel structure: Power is transmitted through the meshing of a chain with driving and driven wheels, and movement is achieved in conjunction with the bottom wheels. Chain drives require regular lubrication and maintenance, and are prone to rust and corrosion in high-humidity and dusty outdoor environments, resulting in rapid wear. Wheel-type walking structures are extremely sensitive to the parallelism of the photovoltaic module frames, requiring strict alignment to prevent deviation. They have poor stability in photovoltaic arrays with uneven bracket spacing, and the meshing noise between the chain and wheel teeth is significant. Furthermore, they lack effective tension self-adjustment capabilities, making them susceptible to component damage due to sudden tension increases in extreme weather conditions such as strong winds.

[0005] Neither of the two aforementioned transmission solutions addresses the core pain points of photovoltaic power plant operation and maintenance in complex outdoor environments. Their design flaws directly result in high robot maintenance costs, limited environmental adaptability (difficult to cope with sandstorms, strong winds, high and low temperatures, etc.), insufficient long-term operational reliability, and failure to consider the synchronous protection requirements of cleaning components, thus failing to meet the long-term stable operation requirements of photovoltaic power plants in different scenarios. Summary of the Invention

[0006] The purpose of this invention is to address the problems of poor adaptability of existing photovoltaic cleaning robots in tilted photovoltaic arrays and the tendency for transmission jams caused by foreign objects in sandy or muddy environments, which seriously affect the continuity of cleaning operations. This invention provides a flat brush photovoltaic cleaning robot based on wire rope transmission.

[0007] To achieve the above objectives, the present invention provides the following technical solution: a flat-brush photovoltaic cleaning robot based on wire rope transmission, comprising: a photovoltaic panel and a drive box disposed on one side of the photovoltaic panel, an auxiliary frame fixedly connected inside the drive box, a servo motor mounted on one side of the auxiliary frame, the output end of the servo motor extending through to the outside of the auxiliary frame and fixedly connected to a second traction wheel, and a tension wheel disposed at the front end of the auxiliary frame; a cleaning frame disposed above the photovoltaic panel, support frames fixedly connected to both sides of the cleaning frame, and a first auxiliary wheel and a second auxiliary wheel rotatably connected to the bottom and inner side of the support frame, the first auxiliary wheel abutting against the edge of the photovoltaic panel. The second auxiliary wheel abuts against the top of the photovoltaic panel. A cleaning block is fixedly connected to the inner side of the cleaning frame via a bracket. A shielding component for shielding the end of the cleaning block is provided between the cleaning block and the cleaning frame. A drive assembly is located around the photovoltaic panel and is used to drive the cleaning frame to move the cleaning block laterally back and forth. A steel wire rope has four ends, with each pair of ends of the steel wire rope located on one side of the support frame. A clamping component for fixing the cleaning frame to the outer wall of the photovoltaic panel is provided on one side of the support frame. A tension adjuster is located inside the drive box and is used to adaptively adjust the tension of the steel wire rope.

[0008] As a further embodiment of the present invention: the driving assembly includes first wheel support brackets respectively disposed at three corners of the photovoltaic panel. A connecting rod is fixedly connected to the inner side of each first wheel support bracket, and two corner wheels are rotatably connected to the outer wall of the connecting rod. A second wheel support bracket is disposed at one corner of the photovoltaic panel, and is combined with the three first wheel support brackets to form a ring. A first traction wheel is rotatably connected to the inner side of the second wheel support bracket. One end of the steel wire rope is installed on the second traction wheel, and the other end of the steel wire rope is installed on the first traction wheel to form a ring. The ring-shaped steel wire rope is respectively attached to the outer wall of the two corner wheels inside each first wheel support bracket, and the corner wheels guide the steel wire rope.

[0009] As a further embodiment of the present invention: the tension adjuster includes a second suspension seat fixedly connected to the back of the auxiliary frame and a second movable seat slidably connected to the inner side of the auxiliary frame, and the tension wheel is rotatably connected to one side of the second movable seat, and a second damper is installed between the second movable seat and the second suspension seat.

[0010] As a further embodiment of the present invention: the clamping assembly includes a first suspension seat fixedly connected to both sides of the cleaning rack, and a hydraulic cylinder is installed on one side of each first suspension seat. The output end of the hydraulic cylinder extends through to the outside of the first suspension seat and is fixedly connected to a pressure plate. An elastic rubber plate is fixedly connected to one side of the pressure plate.

[0011] As a further embodiment of the present invention: the tension adjuster further includes two first movable seats slidably connected to the top of each of the support frames, each of the first movable seats having a column and a first connecting plate fixedly connected to its top, and the column being fixedly connected to the wire rope; each of the support frames having two upright plates fixedly connected to its top; a first damper being installed between each upright plate and each of the first connecting plates; and a limiting component for limiting the first connecting plate being provided on one side of the support frame.

[0012] As a further embodiment of the present invention: the limiting component includes a baffle that fits against one side of the first connecting plate, a support base that is fixedly connected to both sides of the first suspension seat, a second connecting plate that is slidably connected to the top of the support base, and the second connecting plate that is fixedly connected to the baffle, a second spur rack that is fixedly connected to one side of the second connecting plate, a first spur rack that is fixedly connected to the back of the pressure plate, and a spur gear that is rotatably connected to the top of the support base, and the spur gear meshes with the second spur rack and the first spur rack respectively.

[0013] As a further embodiment of the present invention: the inner side of the baffle is provided with an arc surface, and the inner side of the first connecting plate is provided with an inclined surface.

[0014] As a further embodiment of the present invention: the shielding assembly includes a rectangular rod slidably connected to the inner side of the cleaning rack, a U-shaped shield fixedly connected to the bottom of the rectangular rod, the U-shaped shield fitting against the outer wall of the cleaning block, a spherical block fixedly connected to the top of the rectangular rod extending through to the top of the cleaning rack, a connecting spring installed between the spherical block and the cleaning rack, a trapezoidal block provided on one side of the spherical block, a connecting rod fixedly connected to one side of the trapezoidal block, and the connecting rod fixedly connected to the first straight rack.

[0015] Compared with the prior art, the beneficial effects of the present invention are: 1. By setting up the coordination of drive components and other parts, and through the combination design of "ring-shaped closed wire rope transmission + corner wheel guidance + double auxiliary wheel positioning", all the core defects of the two mainstream structures of synchronous pulley & track and chain transmission & wheel are precisely avoided, achieving the transmission effect of "low maintenance, strong environmental adaptability and high long-term reliability", thereby further improving the overall practicality of the device. 2. By setting a tension regulator, the tension of the wire rope in windy weather is not a sudden increase, but also accompanied by high-frequency small fluctuations (such as tension fluctuations caused by alternating gusts). The damping characteristics of the second damper can "filter" these high-frequency fluctuations, so that the tension of the wire rope is always stable in the optimal range, avoiding slippage with the corner wheel and traction wheel due to excessive tension, or jamming of the transmission mechanism due to excessive tension. Even in complex wind conditions with frequent gusts, the continuity of transmission can be improved. 3. By setting up a clamping component, strong winds (especially winds of level 6 or above) can easily generate lateral drag forces, which cannot be completely resisted by tension adjustment and auxiliary wheel positioning alone. This may cause the cleaning rack to detach from the photovoltaic panel frame or tip over and fall. After the hydraulic cylinder drives the elastic rubber plate to clamp the side wall of the photovoltaic panel, it can provide clamping force. Combined with the limiting effect of the double auxiliary wheels, the cleaning rack is firmly fixed to the photovoltaic panel. Even if the wind speed reaches 20m / s (level 8 wind), there will be no displacement, tipping or falling. The risk of equipment loss of control is reduced from 15% to 0. 4. By coordinating components such as the second damper, strong winds (especially gusts and local turbulence) can easily cause uneven tension in different sections of the wire rope (such as a sudden increase in local tension near the cleaning frame). The second damper in the drive box alone is insufficient to accurately buffer local loads. When the baffle is unlocked, the first moving seat stretches / compresses the first damper according to the change in wire rope tension, which can specifically absorb local tension fluctuations (such as when the local tension suddenly increases from 80N to 120N, the first damper can quickly release pressure by 20-30N), avoiding local overload fatigue of the wire rope, and reducing local wear on the corner pulley and traction pulley, thereby improving the overall stability of the device. 5. By incorporating components such as a U-shaped shield, strong winds can carry hard foreign objects such as sand and dead leaves, which can impact the exposed bristles of the cleaning block at high speed, causing the bristles to break and deform (the bristle wear rate can reach 30% / year under normal strong winds). After the U-shaped shield is attached to the outer wall of the cleaning block, it forms a fully enclosed physical barrier that can block more than 99% of the impact of foreign objects, reducing the bristle wear rate and thus extending the service life of the cleaning block. Attached Figure Description

[0016] Figure 1 This is a schematic diagram of the structure of the present invention; Figure 2 This is an enlarged view of section A in Figure 1 of the present invention; Figure 3 This is a schematic diagram of the inner structure of the first wheel assembly support of the present invention; Figure 4 This is a schematic diagram of one end of the cleaning rack of the present invention; Figure 5 This is a schematic diagram of the inner structure of the support frame of the present invention; Figure 6 This is a schematic diagram of the top structure of the support base of the present invention; Figure 7 This is a schematic diagram of the baffle separation according to the present invention; Figure 8 This is a schematic diagram of the drive component structure of the present invention; Figure 9 This is a schematic diagram of the internal structure of the drive box of the present invention; Figure 10 This is a schematic diagram of the back structure of the auxiliary frame of the present invention.

[0017] In the diagram: 1. Photovoltaic panel; 2. Drive box; 3. First wheel assembly support; 4. Second wheel assembly support; 5. Cleaning frame; 6. Steel wire rope; 7. First auxiliary wheel; 8. Second auxiliary wheel; 9. Support frame; 10. First suspension seat; 11. Trapezoidal block; 12. Connecting rod; 13. Support base; 14. Column; 15. Hydraulic cylinder; 16. Connecting rod; 17. Corner wheel; 18. Spherical block; 19. Rectangular rod; 20. Connecting spring; 21. Cleaning block; 22. U-shaped 23. Shield; 24. First movable seat; 25. Baffle; 26. Vertical plate; 27. First damper; 28. First connecting plate; 29. ​​Pressure plate; 30. Elastic rubber plate; 31. First spur rack; 32. Spur gear; 33. Second spur rack; 34. Second connecting plate; 35. First traction wheel; 36. Auxiliary frame; 37. Second traction wheel; 38. Servo motor; 39. Tensioning wheel; 40. Second movable seat; 41. Second suspension seat; 42. Second damper. Detailed Implementation

[0018] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0019] In the description of this invention, it should be noted that the terms "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," and "outer," etc., indicating orientation or positional relationships, are based on the orientation or positional relationships shown in the accompanying drawings and are only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this invention. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and should not be construed as indicating or implying relative importance. In the description of this invention, it should be noted that unless otherwise explicitly specified and limited, the terms "installed," "connected," "linked," and "set up" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal communication of two components. Those skilled in the art can understand the specific meaning of the above terms in this invention based on the specific circumstances. The following describes embodiments of the invention based on its overall structure.

[0020] Please see Figures 1-10This embodiment provides a flat-brush photovoltaic cleaning robot based on wire rope drive, including: a photovoltaic panel 1 and a drive box 2 disposed on one side of the photovoltaic panel 1. An auxiliary frame 35 is fixedly connected inside the drive box 2. A servo motor 37 is installed on one side of the auxiliary frame 35. The output end of the servo motor 37 extends through to the outside of the auxiliary frame 35 and is fixedly connected to a second traction wheel 36. A tension wheel 38 is disposed at the front end of the auxiliary frame 35. A cleaning frame 5 is disposed above the photovoltaic panel 1. Support frames 9 are fixedly connected to both sides of the cleaning frame 5. A first auxiliary wheel 7 and a second auxiliary wheel 8 are rotatably connected to the bottom and inner side of the support frame 9, respectively. The first auxiliary wheel 7 abuts against the edge of the photovoltaic panel 1, and the second auxiliary wheel 8 abuts against the top of the photovoltaic panel 1. A cleaning block 21 is fixedly connected to the inner side of the cleaning frame 5 through a bracket. A drive assembly is located around the photovoltaic panel 1 and is used to drive the cleaning frame 5. The cleaning block 21 is moved laterally and reciprocally. The steel wire rope 6 has four ends, and the ends of every two steel wire ropes 6 are located on one side of the support frame 9. The drive assembly includes first wheel group supports 3 located at three corners of the photovoltaic panel 1. Each first wheel group support 3 is fixedly connected to a connecting rod 16 on its inner side, and two corner wheels 17 are rotatably connected to the outer wall of the connecting rod 16. A second wheel group support 4 is located at one corner of the photovoltaic panel 1 and is combined with the three first wheel group supports 3 to form a ring. A first traction wheel 34 is rotatably connected to the inner side of the second wheel group support 4. One end of the steel wire rope 6 is installed on the second traction wheel 36, and the other end of the steel wire rope 6 is installed on the first traction wheel 34 to form a ring. The ring-shaped steel wire rope 6 is respectively attached to the outer wall of the two corner wheels 17 on the inner side of each first wheel group support 3, and the corner wheels 17 guide the steel wire rope 6. A positioning wheel can be installed on one side of each corner wheel, which abuts against the other side of the wire rope 6. The positioning wheel is rotatably connected to the wheel set support to ensure that the wire rope 6 will not fall off. The drive box 2, the first wheel set support 3, the second wheel set support 4 and other components are fixed on the bracket. First, when it is necessary to clean the top of the photovoltaic panel 1, the servo motor 37 is started. The output end of the servo motor 37 can rotate forward and reverse. The output end of the servo motor 37 drives the second traction wheel 36 to rotate, thereby causing the wire rope 6 to rotate. The three sets of corner wheels 17 form a guide, thereby traction cleaning frame 5 to move laterally back and forth to clean the top of the photovoltaic panel 1. By combining a closed-loop steel wire rope 6-drive system, a corner wheel 17-guide system, and dual auxiliary wheel positioning, the core defects of the two mainstream structures, namely synchronous pulley & track and chain drive & wheel, are precisely avoided, achieving a transmission effect of "low maintenance, strong environmental adaptability, and high long-term reliability", thereby further improving the overall practicality of the device.

[0021] Please see Figures 8-9The tension adjuster is located inside the drive box 2 and is used to adaptively adjust the tension of the wire rope 6. The tension adjuster includes a second suspension seat 40 fixedly connected to the back of the auxiliary frame 35 and a second movable seat 39 slidably connected to the inside of the auxiliary frame 35. The tension wheel 38 is rotatably connected to one side of the second movable seat 39. A second damper 41 is installed between the second movable seat 39 and the second suspension seat 40. When the wire rope 6 encounters strong winds during operation, if the wind force is too strong and causes excessive tension in the wire rope 6, the tension wheel 38 can be moved to pull the second damper 41 downwards for buffering. When the wind stops acting on the wire rope 6, the second damper 41 will drive the tension wheel 38 to reset, thereby adjusting the tension of the wire rope 6 back to normal. This allows the tension of the wire rope 6 to be adjusted adaptively during use. In windy weather, the tension of the wire rope 6 does not simply increase suddenly, but is accompanied by high-frequency small fluctuations (such as tension fluctuations caused by alternating gusts). The damping characteristics of the second damper 41 can "filter" these high-frequency fluctuations, so that the tension of the wire rope 6 is always stable in the optimal range, avoiding slippage with the corner wheel and traction wheel due to excessive tension, or jamming of the transmission mechanism due to excessive tension. Even in complex wind conditions with frequent gusts, the continuity of transmission can be improved.

[0022] Please see Figure 6 The support frame 9 is provided with a clamping assembly for fixing the cleaning frame 5 to the outer wall of the photovoltaic panel 1 on one side. The clamping assembly includes a first suspension seat 10 fixedly connected to both sides of the cleaning frame 5. A hydraulic cylinder 15 is installed on one side of each first suspension seat 10. The output end of the hydraulic cylinder 15 extends through to the outside of the first suspension seat 10 and is fixedly connected to a pressure plate 28. An elastic rubber plate 29 is fixedly connected to one side of the pressure plate 28. A wind sensor is installed on the drive box 2 or the external bracket. The wind sensor detects the wind force in the surrounding environment. When the wind force in the surrounding environment exceeds a certain limit, the PLC controller controls the hydraulic cylinder 15 to start, and the servo motor 37 is in a stopped state. After the hydraulic cylinders 15 on both sides of the photovoltaic panel 1 start, the output end of the hydraulic cylinder 15 drives the pressure plate 28 to drive the elastic rubber plate 29 to press against the side wall of the photovoltaic panel 1, so that the cleaning rack 5 is tightly hugged to the outside of the photovoltaic panel 1. Strong winds (especially winds of level 6 or higher) can easily generate lateral drag forces, which cannot be completely resisted by tension adjustment and auxiliary wheel positioning alone. This may cause the cleaning frame 5 to detach from the frame of the photovoltaic panel 1 or to tip over and fall. After the hydraulic cylinder 15 drives the elastic rubber plate 29 to hug the side wall of the photovoltaic panel, it can provide clamping force. With the limiting effect of the double auxiliary wheels, the cleaning frame 5 is firmly fixed to the photovoltaic panel 1. Even if the wind speed reaches 20m / s (level 8 wind), there will be no displacement, tipping or falling. The risk of equipment loss of control is reduced from the original 15% to 0.

[0023] Please see Figures 4-7 The tension adjuster also includes two first movable seats 23 slidably connected to the top of each support frame 9. Each first movable seat 23 has a column 14 and a first connecting plate 27 fixedly connected to its top, and the column 14 is fixedly connected to the wire rope 6. Two upright plates 25 are fixedly connected to the top of each support frame 9. A first damper 26 is installed between each upright plate 25 and each first connecting plate 27. A limiting component for limiting the first connecting plate 27 is provided on one side of the support frame 9. The limiting component includes a stop that fits against one side of the first connecting plate 27. Plate 24, a support base 13 is fixedly connected to both sides of the first suspension seat 10, a second connecting plate 33 is slidably connected to the top of the support base 13, and the second connecting plate 33 is fixedly connected to the baffle 24, a second straight rack 32 is fixedly connected to one side of the second connecting plate 33, a first straight rack 30 is fixedly connected to the back of the pressure plate 28, a spur gear 31 is rotatably connected to the top of the support base 13, and the spur gear 31 meshes with the second straight rack 32 and the first straight rack 30 respectively, the inner side of the baffle 24 is provided with an arc surface, and the inner side of the first connecting plate 27 is provided with an inclined surface; As the pressure plate 28 moves toward the photovoltaic panel 1, it drives the first spur rack 30 to move synchronously, thereby driving the spur gear 31 to rotate. This, in turn, causes the second spur rack 32 to move the baffle 24 away from the first connecting plate 27 via the second connecting plate 33. When the baffle 24 separates from the first connecting plate 27, the first connecting plate 27 is no longer restricted, allowing the wire rope 6 to stretch the first damper 26 through the second spur rack 32 when the wind force is relatively strong, thus allowing the tension of the wire rope 6 to undergo local adaptive changes. When the baffle 24 is reset and there is a slight misalignment with the first connecting plate 27, the front arc surface contacts the inner inclined surface of the first connecting plate 27, pushing the first connecting plate 27 to move towards the first damper 26, so that the baffle 24 forms a block on the side that can be reset to the first connecting plate 27. Strong winds (especially gusts and local turbulence) can easily cause uneven tension in different sections of the wire rope 6 (such as a sudden increase in local tension near the cleaning frame 5). The second damper 41 in the drive box 2 alone is not enough to accurately buffer local loads. When the baffle 24 is unlocked, the first moving seat 23 stretches / compresses the first damper 26 according to the tension change of the wire rope 6, which can specifically absorb local tension fluctuations (such as when the local tension suddenly increases from 80N to 120N, the first damper 26 can quickly release pressure by 20-30N), avoid local overload fatigue of the wire rope 6, and reduce local wear of the corner pulley and traction pulley, thereby improving the overall stability of the device.

[0024] Please see Figures 4-5A shielding assembly for shielding the end of the cleaning block 21 is provided between the cleaning block 21 and the cleaning frame 5. The shielding assembly includes a rectangular rod 19 slidably connected to the inner side of the cleaning frame 5. A U-shaped shield 22 is fixedly connected to the bottom of the rectangular rod 19. The U-shaped shield 22 fits against the outer wall of the cleaning block 21. A spherical block 18 is fixedly connected to the top of the rectangular rod 19 through the top of the cleaning frame 5. A connecting spring 20 is installed between the spherical block 18 and the cleaning frame 5. A trapezoidal block 11 is provided on one side of the spherical block 18. A connecting rod 12 is fixedly connected to one side of the trapezoidal block 11, and the connecting rod 12 is fixedly connected to the first straight rack 30. As the first straight rack 30 moves toward the photovoltaic panel 1 along with the pressure plate 28, it drives the connecting rod 12 to move synchronously, thereby pushing the trapezoidal block 11 toward the spherical block 18. Then, through the inner inclined surface of the trapezoidal block 11, the spherical block 18 is pushed to move the U-shaped shield 22 downward through the rectangular rod 19. When the trapezoidal block 11 stops moving, the U-shaped shield 22 covers the cleaning block 21. Strong winds can carry hard foreign objects such as sand and dead leaves, which can impact the exposed bristles of the cleaning block 21 at high speed, causing the bristles to break and deform (the wear rate of the bristles can reach 30% / year under normal strong winds). After the U-shaped shield 22 is attached to the outer wall of the cleaning block 21, it forms a fully enclosed physical barrier that can block more than 99% of the impact of foreign objects, reduce the wear rate of the bristles, and thus extend the service life of the cleaning block 21.

[0025] The above description is merely a preferred embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any equivalent substitutions or modifications made by those skilled in the art within the scope of the technology disclosed in the present invention, based on the technical solution and inventive concept of the present invention, should be covered within the scope of protection of the present invention.

Claims

1. A flat brush type photovoltaic cleaning robot based on steel wire rope transmission, characterized in that, Include: Photovoltaic panel (1) and drive box (2) provided on one side of the photovoltaic panel (1), the inside of the drive box (2) is fixedly connected with auxiliary frame (35), one side of the auxiliary frame (35) is installed with servo motor (37), the output end of the servo motor (37) is fixedly connected with second traction wheel (36) outside the auxiliary frame (35), the front end of the auxiliary frame (35) is provided with tensioning wheel (38); Cleaning frame (5), the cleaning frame (5) is arranged above the photovoltaic panel (1), the two sides of the cleaning frame (5) are fixedly connected with support frame (9) respectively, the bottom and the inner side of the support frame (9) are rotatably connected with first auxiliary wheel (7) and second auxiliary wheel (8) respectively, the first auxiliary wheel (7) abuts on the edge of the photovoltaic panel (1), the second auxiliary wheel (8) abuts on the top of the photovoltaic panel (1), the inner side of the cleaning frame (5) is fixedly connected with cleaning block (21) through support, the cleaning block (21) and the cleaning frame (5) are provided with shielding assembly for shielding the end of the cleaning block (21); Driving assembly, the driving assembly is located around the photovoltaic panel (1), used for driving the cleaning frame (5) to drive the cleaning block (21) to move transversely and reciprocally; Steel wire rope (6), the steel wire rope (6) is provided with four ends, every two ends of the steel wire rope (6) are arranged on one side of the support frame (9), one side of the support frame (9) is provided with holding assembly for fixing the cleaning frame (5) on the outer wall of the photovoltaic panel (1); Tensioning regulator, located in the inner side of the drive box (2), used for adaptively adjusting the tension of the steel wire rope (6).

2. The flat brush photovoltaic cleaning robot based on steel wire rope transmission according to claim 1, characterized in that, The driving assembly includes first wheel set support (3) arranged at three corners of the photovoltaic panel (1) respectively, one connecting rod (16) is fixedly connected to the inner side of each first wheel set support (3), and two corner wheels (17) are rotatably connected to the outer wall of the connecting rod (16), a second wheel set support (4) is arranged at one corner of the photovoltaic panel (1) and combined with three first wheel set supports (3) to form a ring, a first traction wheel (34) is rotatably connected to the inner side of the second wheel set support (4), one end of the steel wire rope (6) is installed on the second traction wheel (36), and the other end of the steel wire rope (6) is installed on the first traction wheel (34) to form a ring, the steel wire rope (6) arranged in a ring is respectively attached to the outer wall of two corner wheels (17) on the inner side of each first wheel set support (3), and the corner wheels (17) guide the steel wire rope (6).

3. The flat brush photovoltaic cleaning robot based on steel wire rope transmission according to claim 2, characterized in that, The tensioning adjuster comprises a second suspension seat (40) fixedly connected to the back of the auxiliary frame (35) and a second moving seat (39) slidably connected to the inner side of the auxiliary frame (35), and the tensioning wheel (38) is rotatably connected to one side of the second moving seat (39), and a second damper (41) is installed between the second moving seat (39) and the second suspension seat (40).

4. The flat brush photovoltaic cleaning robot based on steel wire rope transmission according to claim 3, characterized in that, The embracing assembly comprises first suspension seats (10) fixedly connected to the two sides of the cleaning frame (5), and a hydraulic cylinder (15) is installed on one side of each first suspension seat (10), and a pressing plate (28) is fixedly connected to the output end of the hydraulic cylinder (15) and penetrates through the first suspension seat (10), and an elastic rubber plate (29) is fixedly connected to one side of the pressing plate (28).

5. The flat brush photovoltaic cleaning robot based on steel wire rope transmission according to claim 4, characterized in that, The tensioning adjuster further comprises two first moving seats (23) slidably connected to the top of each support frame (9), and a stand column (14) and a first connecting plate (27) are fixedly connected to the top of each first moving seat (23), and the stand column (14) is fixedly connected to the steel wire rope (6), and two vertical plates (25) are fixedly connected to the top of each support frame (9), and a first damper (26) is installed between each vertical plate (25) and each first connecting plate (27), and a limiting assembly for limiting the first connecting plate (27) is arranged on one side of the support frame (9).

6. The flat brush photovoltaic cleaning robot based on steel wire rope transmission according to claim 5, characterized in that, The limiting assembly comprises a baffle (24) attached to one side of the first connecting plate (27), a supporting seat (13) is fixedly connected to the two sides of the first suspension seat (10), a second connecting plate (33) is slidably connected to the top of the supporting seat (13), and the second connecting plate (33) is fixedly connected to the baffle (24), a second straight rack (32) is fixedly connected to one side of the second connecting plate (33), a first straight rack (30) is fixedly connected to the back of the pressing plate (28), and a straight gear (31) is rotatably connected to the top of the supporting seat (13), and the straight gear (31) is engaged with the second straight rack (32) and the first straight rack (30) respectively.

7. The flat brush photovoltaic cleaning robot based on steel wire rope transmission according to claim 6, characterized in that, The inner side of the baffle (24) is provided with a curved surface, and the inner side of the first connecting plate (27) is provided with an inclined surface.

8. The flat brush photovoltaic cleaning robot based on steel wire rope transmission according to claim 6, characterized in that, The shielding assembly comprises a rectangular rod (19) slidably connected to the inner side of the cleaning frame (5), a U-shaped shield (22) is fixedly connected to the bottom of the rectangular rod (19) and attached to the outer wall of the cleaning block (21), a spherical block (18) is fixedly connected to the top of the rectangular rod (19) and penetrates through the upper side of the cleaning frame (5), a connecting spring (20) is installed between the spherical block (18) and the cleaning frame (5), a trapezoidal block (11) is arranged on one side of the spherical block (18), a connecting rod (12) is fixedly connected to one side of the trapezoidal block (11), and the connecting rod (12) is fixedly connected to the first straight rack (30).

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