Photovoltaic panel cleaning robot with self-cleaning adsorption roller and cleaning method of photovoltaic panel cleaning robot

Abstract

The invention discloses a photovoltaic panel cleaning robot with a self-cleaning adsorption roller and a cleaning method of the photovoltaic panel cleaning robot, and belongs to the technical field of photovoltaic panel cleaning and maintenance. Comprising a cleaning robot body, a rubbing cleaning assembly and a connecting limiting assembly. The cleaning robot body comprises a machine body, walking wheels, a containing groove and a dust adsorption roller, and the adsorption roller is arranged in the containing groove. The rubbing cleaning assembly comprises a rubbing plate and a sliding block, and one end of the rubbing plate makes contact with the surface of the adsorption roller. The connecting limiting assembly achieves elastic limiting and detachable connection of the collecting box, and the cleaning stability and maintenance convenience are guaranteed. By means of the integrated working process of rolling adsorption, real-time scraping and directional collection, efficient cleaning of the photovoltaic panel is achieved. The cross-column cleaning device is compact in structure and light in weight, gets rid of dependence on a fixed rail, can achieve cross-column cleaning, remarkably improves cleaning efficiency and reduces system cost. The robot does not need an external water source and is suitable for photovoltaic power station cleaning and maintenance in drought and dusty environments.

Description

Technical Field

[0001] This invention relates to the field of photovoltaic panel cleaning and maintenance technology, and more specifically, to a photovoltaic panel cleaning robot with a self-cleaning adsorption roller and its cleaning method, for efficient, dry, automatic cleaning and maintenance of photovoltaic panels. Background Technology

[0002] In recent years, with the transformation of the global energy structure and the proposal of "dual carbon" goals, photovoltaic power generation, with its renewable, clean, and efficient characteristics, has become an important direction for sustainable energy development. Photovoltaic power generation systems utilize the photoelectric effect of semiconductor materials to directly convert solar energy into electrical energy. They offer advantages such as stable operation, easy maintenance, and zero pollution emissions, making them a crucial part of the energy structure transformation. However, in actual operation, the power generation efficiency of photovoltaic panels heavily depends on the cleanliness of their surface. Due to long-term exposure to the outdoor environment, panel surfaces easily accumulate pollutants such as dust, sand, pollen, and bird droppings. These pollutants can form shading on the panel surface, reducing light transmittance and causing the "hot spot effect." This not only significantly reduces photoelectric conversion efficiency (studies show that severe contamination can lead to a power generation loss of over 15%), but can also cause irreversible damage to the panel itself, shortening its lifespan. Therefore, regular and effective cleaning of photovoltaic panels is a key aspect of ensuring the return on investment for power plants.

[0003] Currently, there are three main methods for cleaning photovoltaic panels: manual cleaning, spray system cleaning, and automated cleaning robots. Manual cleaning relies on high-pressure water guns or brushes for surface rinsing. While simple to operate, it suffers from high labor intensity, low cleaning efficiency, high water consumption, and high personal safety risks. Spray cleaning systems are mostly integrated into fixed power stations and can achieve periodic rinsing, but installation costs are high and cleaning effectiveness is limited by water source conditions, making them unsuitable for deserts or remote areas. In contrast, photovoltaic cleaning robots, due to their high degree of automation, water and energy saving, and strong adaptability, are gradually becoming the main direction for photovoltaic operation and maintenance. Guo Hongyuan's article "Design and Development of a Photovoltaic Panel Cleaning Robot," published in *Power Equipment Management*, describes a robot with a cleaning rate of 88%. Chinese patents CN223124844U and CN220915245U also disclose cleaning robot solutions that achieve good cleaning results.

[0004] In recent years, cleaning robots have been considered an ideal solution due to their automation, water conservation, and intelligence. Among them, track-based cleaning robots can operate automatically via pre-set tracks, but a single robot is typically confined to a single track, unable to cross array gaps for "cross-column" operations, resulting in high system deployment costs and poor flexibility. Furthermore, mobile robots using rolling dust-adhesive methods (such as adhesive rollers) overcome track limitations, but during the cleaning process, if contaminants adsorbed on the surface of the dust rollers are not removed promptly and effectively, they gradually become saturated and form secondary pollution sources. In subsequent cleaning, these contaminants are re-adheded to the already cleaned panel areas, severely affecting the final cleaning effect. Finally, some cleaning robots have bulky structures or complex drives, leading to high costs, high energy consumption, and insufficient reliability.

[0005] To address the aforementioned problems, this invention proposes a photovoltaic panel cleaning robot with a self-cleaning adsorption roller and its cleaning method. This solution achieves automatic removal and collection of dust from the adsorption roller surface through the synergistic action of a scraping cleaning component and the adsorption roller, constructing a closed-loop self-cleaning system. Simultaneously, optimized connection and limiting structures ensure cleaning stability and cross-row operation capability, thereby effectively improving photovoltaic panel cleaning efficiency and equipment lifespan. Summary of the Invention

[0006] To overcome the shortcomings of existing photovoltaic panel cleaning robots, such as complex structure, insufficient adaptability, limited cross-row capability, and easy dust accumulation on the adsorption rollers, the present invention aims to provide a photovoltaic panel cleaning robot with self-cleaning adsorption rollers and its cleaning method, to solve the following core problems: Through innovative connection limiting and guiding structures, it overcomes the limitation of existing track-type robots that cannot operate across rows, providing a compact, flexible, and autonomous mobile robot that can achieve large-area cleaning without a complex external track system; it solves the technical problem of secondary pollution caused by the accumulation of pollutants on the dust rollers of robots using rolling dust collection methods, providing an integrated solution that can perform real-time self-cleaning of the dust rollers and effectively collect pollutants; and it improves the overall automation and efficiency of the cleaning process, reducing operation and maintenance costs and water consumption.

[0007] To achieve the above objectives, the present invention provides the following technical solution: a photovoltaic panel cleaning robot with a self-cleaning adsorption roller, comprising a cleaning robot body for photovoltaic panels, a scraping cleaning component, and a connecting limiting component; the cleaning robot body includes a body, wheels, a receiving groove, and a dust adsorption roller. Four wheels are arranged on both sides of the body, and the receiving groove is located at the bottom of the body. The dust adsorption roller is rotatably mounted in the receiving groove via a rotating shaft, and its roller surface contacts the photovoltaic panel and is provided with a flexible electrostatic adsorption layer for adsorbing and rolling up dust on the panel. The scraping cleaning assembly is arranged within a receiving groove and includes a sliding groove, a scraping plate, a sliding block, a collection box, and a contact groove. Two sliding grooves are symmetrically formed on both sides of the inner wall of the receiving groove. The scraping plate is positioned within the receiving groove, with one end in contact with the surface of the dust adsorption roller. It is used to scrape off dust adhering to the surface of the adsorption roller during its rotation and guides the dust into the collection box via a guide structure. The sliding block slides through the sliding groove and is fixedly connected to the scraping plate, and is secured in the sliding groove by bolts. The collection box is connected to the inner wall of the receiving groove via a connecting limiting assembly. A contact groove is formed on one side of the collection box, and the other end of the scraping plate contacts the contact groove.

[0008] As a further aspect of the present invention: the sliding groove is an L-shaped structure with a larger upper section and a smaller lower section, and the vertical groove length is adapted to the sliding block length, and the horizontal groove thickness is adapted to the sliding block thickness, so that the scraper plate maintains stable guidance during installation and operation.

[0009] As a further aspect of the present invention: the scraping plate is an inclined structure, the inclination direction is opposite to the forward direction of the cleaning robot, its longitudinal section is a V-shaped structure, and the tip is set downward, in order to enhance the scraping force and prevent dust from falling back.

[0010] As a further aspect of the present invention: the top surface of the collection box on the side away from the scraper is higher than the top of the scraper to prevent external wind from interfering with the dust introduction path.

[0011] As a further embodiment of the present invention: the connecting limiting assembly includes a guide groove, a guide block, a limiting groove, a movable groove, a movable block, spring A, a connecting groove, and a connecting block; the scraping plate has a guide groove; the guide block is fixed in the contact groove, and the guide block is inserted into the guide groove to guide the positional alignment between the collection box and the scraping plate; two limiting grooves are symmetrically formed on the top surface of the collection box; a movable groove is formed in the limiting groove, and the length of the movable groove is greater than the length of the limiting groove; the movable block slides through the movable groove; both ends of spring A are fixedly connected to the inner wall of the movable groove and the movable block, respectively; two connecting grooves are symmetrically formed on both sides of the inner wall of the receiving groove; the connecting block slides through the connecting groove and is fixedly connected to the movable block, and the connecting block is inserted into the connecting groove through a top contact assembly, the movable block cooperates with the limiting groove and the movable groove, and is connected by a spring to form a flexible limiting structure to ensure the stability and vibration resistance of the collection box during operation. The connecting block is connected to the connecting groove by an insertion method to realize the quick assembly and disassembly of the collection box and facilitate the cleaning of internal dust.

[0012] As a further aspect of the present invention: the movable block is a T-shaped structure with a smaller top and a larger bottom.

[0013] As a further aspect of the present invention: the connecting block is an L-shaped structure with a larger top and a smaller bottom.

[0014] As a further aspect of the present invention: the top contact assembly includes a top contact groove, a top contact block, and a spring B; the top contact groove is formed within the connecting groove; the top contact block slides through the top contact groove and contacts the horizontal plate of the connecting block, forming a second-level flexible limiting mechanism to buffer vibrations during the movement of the cleaning robot body and maintain a tight fit between the scraping plate and the collection box, thereby ensuring cleaning stability. The two ends of the spring B are fixedly connected to the inner wall of the top contact groove and the top contact block, respectively, and the elastic strength of the spring B is less than that of the spring A.

[0015] As a further aspect of the present invention: the top contact block is a frustum-shaped structure with a smaller top and a larger bottom, and the inclined surface of the top contact block contacts the inner wall of the top contact groove.

[0016] In addition, the cleaning robot is equipped with a control and drive mechanism to achieve precise control of the wheels and synchronous rotation of the suction rollers. The control system can automatically adjust the contact pressure between the dust suction rollers and the scraper plate according to the panel tilt angle and running speed, achieving efficient cleaning and adaptive control.

[0017] In addition, the present invention also relates to a cleaning method for a photovoltaic panel cleaning robot with a self-cleaning adsorption roller, comprising the following steps: Step 1: By using the cooperation between the sliding block and the sliding groove, install the scraper plate in the receiving groove, and make one side of the scraper plate contact the surface of the dust adsorption roller; Step 2: Guide and fix the position between the collection box and the scraper plate by the cooperation between the guide block and the guide groove, and then install the collection box in the receiving groove by the cooperation between the connecting block and the connecting groove. Step 3: When the horizontal plate of the connecting block is inserted into the connecting groove, under the action of the spring force of spring B, the top contact block will contact the horizontal plate of the connecting block, making the position of the connecting block in the connecting groove more stable and the contact between the scraping plate and the contact groove more tightly. Step 4: The cleaning robot moves on the photovoltaic panel using its wheels, and uses a dust-absorbing roller to absorb dust from the panel. The dust is then guided by a scraping plate and finally falls into the collection box.

[0018] The beneficial effects of this invention are as follows: 1. This invention, by employing a lightweight body and an elastic limiting connection structure, enables the cleaning robot to move across different rows, easily traversing gaps or guide rails between panels. A single cleaning robot can cover a large area, greatly improving the single-machine operation capability, significantly reducing the number of robots deployed and the total cost of large-scale photovoltaic power plants, and greatly improving cross-row adaptability and operational stability. Furthermore, through the linkage structure of the scraping plate and the dust adsorption roller, the dust adsorption roller automatically scrapes off surface dust during operation, eliminating the need for manual cleaning and significantly improving cleaning continuity, thereby achieving the self-cleaning function of the adsorption roller.

[0019] 2. This invention utilizes the synergistic action of the scraping plate, guide groove, and collection box to construct an integrated dust removal channel of "adsorption-scraping-guiding-collection," enabling simultaneous cleaning of photovoltaic panels and dust recovery to form a closed-loop dust removal system. The collection box features a detachable structure for easy cleaning. The flexible limiting component of spring B absorbs vibration and reduces impact, extending the lifespan of the mechanism and ensuring a smooth and reliable scraping and guiding process. It boasts advantages such as easy maintenance and high reliability. Furthermore, the cleaning process of this invention requires no water source or cleaning agent, making it suitable for arid or water-scarce areas. It can achieve unmanned, low-energy operation and maintenance in typical photovoltaic scenarios such as deserts and Gobi, thus contributing to energy conservation and environmental protection.

[0020] 3. This invention, by setting a connecting limiting component, allows the connecting block to slide within the limiting groove by pulling it, causing the movable block to slide within the movable groove. This causes spring A to contract under force until the side of the connecting block contacts the inner wall of the limiting groove. At this point, the guide block is inserted into the guide groove until the other end of the scraping plate contacts the contact groove. Then, the connecting block is released, and under the elastic force of spring A, the connecting block slides in the opposite direction within the limiting groove, causing the movable block to slide in the opposite direction within the movable groove, and the horizontal plate of the connecting block to slide within the connecting groove until the side of the horizontal plate of the connecting block contacts the inner wall of the connecting groove. At this point, the position of the collection box within the receiving groove is fixed.

[0021] 4. By setting up a top contact assembly, when the horizontal plate of the connecting block slides in the connecting groove, it will cause the horizontal plate of the connecting block to press against the inclined surface of the top contact block. Since the elastic strength of spring B is less than that of spring A, the top contact block will slide in the top contact groove, causing spring B to contract under force until the side of the horizontal plate of the connecting block contacts the inner sidewall of the connecting groove. At this time, the force generated by the contraction of spring B can not only make the position of the connecting block in the connecting groove more stable, but also make the scraper plate and the contact groove more tightly. Attached Figure Description

[0022] Figure 1 This is a schematic diagram of the overall structure of the present invention; Figure 2 This is a cross-sectional view of the overall structure of the present invention; Figure 3This is a cross-sectional view of the main structure of the cleaning robot of the present invention; Figure 4 This is a cross-sectional view of the scraper plate structure of the present invention; Figure 5 This is a cross-sectional view of the collection box structure of the present invention; Figure 6 This is a partial structural breakdown diagram of the present invention; Figure 7 For the present invention Figure 2 Enlarged view of point A in the middle; Figure 8 For the present invention Figure 3 Enlarged diagram of point B in the middle.

[0023] In the picture: 1. Cleaning robot body; 2. Scratching cleaning component; 3. Connecting and limiting component; 4. Top contact component; 101. Body; 102. Walking wheel; 103. Receiving slot; 104. Dust adsorption roller; 201. Sliding slot; 202. Scratching plate; 203. Sliding block; 204. Collection box; 205. Contact slot; 301. Guide slot; 302. Guide block; 303. Limiting slot; 304. Movable slot; 305. Movable block; 306. Spring A; 307. Connecting slot; 308. Connecting block; 401. Top contact slot; 402. Top contact block; 403. Spring B. Detailed Implementation

[0024] 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.

[0025] like Figures 1 to 8 As shown, the present invention provides a photovoltaic panel cleaning robot with a self-cleaning adsorption roller, including a cleaning robot body 1 for photovoltaic panels, a scraping cleaning component 2, and a connecting limiting component 3; the cleaning robot body 1 includes a body 101, wheels 102, a receiving groove 103, and a dust adsorption roller 104; four wheels 102 are evenly rotatably disposed on both sides of the body 101; the receiving groove 103 is provided on the bottom surface of the body 101; the dust adsorption roller 104 is rotatably disposed in the receiving groove 103 via a rotating shaft, and the roller surface of the dust adsorption roller 104 contacts the photovoltaic panel; the cleaning robot body 1 is provided with a control mechanism for controlling the walking direction of the wheels 102 and a drive mechanism for driving the wheels 102; to facilitate power supply to the cleaning robot body 1, a battery slot for storing a battery is provided inside the body 101. The scraping cleaning component 2 is arranged in the receiving groove 103; the scraping cleaning component 2 includes a sliding groove 201, a scraping plate 202, a sliding block 203, a collection box 204, and a contact groove 205; two sliding grooves 201 are symmetrically opened on both sides of the inner wall of the receiving groove 103; the scraping plate 202 is disposed in the receiving groove 103, and one end of the scraping plate 202 contacts the roller surface of the dust adsorption roller 104 to ensure that the dust adhering on the dust adsorption roller 104 can be scraped by the scraping plate 202; the sliding block 203 slides through the sliding groove 201 and is fixedly connected to the scraping plate 202, and the sliding block 203 is fixed in the sliding groove 201 by bolts; the collection box 204 is connected to the inner wall of the receiving groove 103 through the connecting limiting component 3; a contact groove 205 is opened on one side of the collection box 204, and the other end of the scraping plate 202 contacts the contact groove 205; the sliding groove 201 is... The L-shaped structure, wider at the top and narrower at the bottom, with the vertical groove length of the sliding groove 201 matching the length of the sliding block 203 and the horizontal groove thickness matching the thickness of the sliding block 203, not only facilitates the installation of the scraper plate 202 but also allows one end of the scraper plate 202 to contact the surface of the dust adsorption roller 104. The scraper plate 202 has an inclined structure, with its inclination direction opposite to the forward direction of the cleaning robot body 1. The longitudinal section of the scraper plate 202 is V-shaped, with its tip pointing downwards to guide the dust scraped off the surface of the dust adsorption roller 104. The top surface of the collection box 204 on the side away from the scraper plate 202 is higher than the top of the scraper plate 202, allowing the collection box 204 to block external wind forces and ensure that dust can smoothly enter the collection box 204 through the scraper plate 202.

[0026] This invention utilizes a scraping cleaning component 2. A sliding block 203 is slid into the vertical groove of a sliding channel 201 and slides until its top surface contacts the top wall of the vertical groove. Then, a horizontal scraping plate 202 is moved, causing the sliding block 203 to slide within the horizontal groove of the sliding channel 201 until its side surface contacts the side wall of the horizontal groove. At this point, one end of the scraping plate 202 contacts the surface of the dust adsorption roller 104. The sliding block 203 is then fixed in the horizontal groove of the sliding channel 201 using bolts. A connecting limiting component 3 further fixes the collection box 204 within the receiving groove 103. Finally, the cleaning robot body 1 is placed on the photovoltaic panel to be cleaned, and the cleaning robot... The control mechanism inside the robot body 1 causes the walking wheels 102 to rotate, enabling the cleaning robot body 1 to walk on the photovoltaic panel. As the surface of the dust adsorption roller 104 comes into contact with the photovoltaic panel, the dust adsorption roller 104 rotates within the receiving groove 103 via a rotating shaft, allowing the dust adsorption roller 104 to adsorb dust on the photovoltaic panel. Through the scraping and guidance of the scraping plate 202, the dust finally falls into the collection box 204. Finally, the collection box 204 can be disassembled by connecting the limiting component 3, making it easy to clean the dust inside the collection box 204. Compared with the prior art, the present invention has a reasonable structural design, is lightweight and compact, is not only easy to carry, but also enables cross-row cleaning. At the same time, it can also scrape and collect dust on the surface of the dust adsorption roller 104, greatly improving cleaning efficiency.

[0027] As a preferred embodiment, the connecting limiting component 3 includes a guide groove 301, a guide block 302, a limiting groove 303, a movable groove 304, a movable block 305, a spring A306, a connecting groove 307, and a connecting block 308; the scraping plate 202 has a guide groove 301; the guide block 302 is fixedly welded into the contact groove 205, and the guide block 302 and the guide groove 301 are inserted into each other; two limiting grooves 303 are symmetrically provided on the top surface of the collection box 204; the movable groove 304 is provided in the limiting groove 303, and the length of the movable groove 304 is greater than the length of the limiting groove 303, so as to prevent the spring A306 from retracting to its maximum extent and causing damage. Elastic fatigue; the movable block 305 slides through the movable groove 304; the two ends of the spring A306 are fixedly connected to the inner wall of the movable groove 304 and the movable block 305 respectively; two connecting grooves 307 are symmetrically opened on both sides of the inner wall of the receiving groove 103; the connecting block 308 slides through the connecting groove 307 and is fixedly connected to the movable block 305, and the connecting block 308 is inserted into the connecting groove 307 through the top contact assembly 4; the movable block 305 has a T-shaped structure with a smaller top and a larger bottom to facilitate the restriction of the position of the connecting block 308; the connecting block 308 has an L-shaped structure with a larger top and a smaller bottom to facilitate the fixing of the position of the collection box 204 in the receiving groove 103.

[0028] This invention utilizes a connecting limiting component 3. By pulling the connecting block 308, it slides within the limiting groove 303, causing the movable block 305 to slide within the movable groove 304. This causes the spring A306 to contract under pressure until the side of the connecting block 308 contacts the inner wall of the limiting groove 303. At this point, the guide block 302 is inserted into the guide groove 301 until the other end of the scraping plate 202 contacts the contact groove 205. Then, the connecting block 308 is released. Under the elastic force of the spring A306, the connecting block 308 slides in the opposite direction within the limiting groove 303, causing the movable block 305 to slide in the opposite direction within the movable groove 304. This causes the horizontal plate of the connecting block 308 to slide within the connecting groove 307 until the side of the horizontal plate of the connecting block 308 contacts the inner wall of the connecting groove 307. At this point, the position of the collection box 204 within the receiving groove 103 is fixed.

[0029] In a preferred embodiment, the top contact assembly 4 includes a top contact groove 401, a top contact block 402, and a spring B403; the top contact groove 401 is formed in the connecting groove 307; the top contact block 402 slides through the top contact groove 401 and contacts the horizontal plate of the connecting block 308; both ends of the spring B403 are fixedly connected to the inner wall of the top contact groove 401 and the top contact block 402, respectively, and the elastic strength of the spring B403 is less than that of the spring A306, so that the system forms a "rigid-flexible" dual-stage limiting structure. This effectively prevents the collection box from shifting or resonating during operation; the top contact block 402 has a frustum-shaped structure with a smaller top and a larger bottom, and the inclined surface of the top contact block 402 contacts the inner wall of the top contact groove 401 to prevent the top contact block 402 from moving out of the top contact groove 401; the top surface of the sliding block 203, the bottom surface of the guide groove 301, and the side of the horizontal plate of the connecting block 308 are all chamfered; when the side of the connecting block 308 contacts the inner wall of the limiting groove 303, the side of the horizontal plate of the connecting block 308 is directly above the collection box 204.

[0030] By setting the top contact assembly 4, when the horizontal plate of the connecting block 308 slides in the connecting groove 307, it will press the inclined surface of the top contact block 402. Since the elastic strength of the spring B403 is less than that of the spring A306, the top contact block 402 will slide in the top contact groove 401, causing the spring B403 to contract under force until the side of the horizontal plate of the connecting block 308 contacts the inner sidewall of the connecting groove 307. At this time, the force generated by the contraction of the spring B403 can not only make the position of the connecting block 308 in the connecting groove 307 more stable, but also make the scraping plate 202 contact the contact groove 205 more tightly.

[0031] In addition, the present invention also relates to a cleaning method for a photovoltaic panel cleaning robot with a self-cleaning adsorption roller, comprising the following steps: Step 1: By cooperating with the sliding block 203 and the sliding groove 201, the scraper plate 202 is installed in the receiving groove 103, and one side of the scraper plate 202 is in contact with the roller surface of the dust adsorption roller 104. Step 2: The position between the collection box 204 and the scraping plate 202 is guided and fixed by the cooperation between the guide block 302 and the guide groove 301. Then, the collection box 204 is installed in the receiving groove 103 by the cooperation between the connecting block 308 and the connecting groove 307. Step 3: When the horizontal plate of connecting block 308 is inserted into the connecting groove 307, under the action of the spring force of spring B403, the top contact block 402 will contact the horizontal plate of connecting block 308, making the position of connecting block 308 in the connecting groove 307 more stable and the contact between scraping plate 202 and contact groove 205 more tightly. Step 4: The cleaning robot body 1 walks on the photovoltaic panel using the walking wheels 102, and the dust on the photovoltaic panel is adsorbed by the dust adsorption roller 104. The dust is then adsorbed by the scrubbing plate 202 and guided to finally fall into the collection box 204.

[0032] The walking wheel 102 and the dust adsorption roller 104 are both conventional instruments. Their working principles, dimensions and models are not related to the problem solved by this application, so they will not be described in detail. The control method of this invention is through a controller. The control circuit of the controller can be implemented by a person skilled in the art through simple programming. The power supply is also common knowledge in the art. Furthermore, this invention is mainly used to protect mechanical devices, so the control method and circuit connection will not be explained in detail.

[0033] The working principle of this invention is as follows: First, the sliding block 203 is slid into the vertical groove of the sliding groove 201, and then slides within the vertical groove until the top surface of the sliding block 203 contacts the top wall of the vertical groove. At this point, the scraping plate 202 is moved horizontally, causing the sliding block 203 to slide within the horizontal groove of the sliding groove 201 until the side of the sliding block 203 contacts the inner side wall of the horizontal groove. At this point, one end of the scraping plate 202 contacts the roller surface of the dust adsorption roller 104. Then, the sliding block 203 is fixed in the horizontal groove of the sliding groove 201 using bolts. Next, the connecting block 308 is pulled, causing it to slide within the limiting groove 303, and the movable block 305 to slide within the movable groove 304. This causes spring A306 to contract under force until the side of connecting block 308 contacts the inner wall of limiting groove 303. At this point, guide block 302 is inserted into guide groove 301 until the other end of scraping plate 202 contacts contact groove 205. Then, connecting block 308 is released. Under the elastic force of spring A306, connecting block 308 will slide in the opposite direction in limiting groove 303, causing movable block 305 to slide in the opposite direction in movable groove 304, and causing horizontal plate of connecting block 308 to slide in connecting groove 307. This causes horizontal plate of connecting block 308 to press against the inclined surface of top contact block 402. Since the elastic strength of spring B403 is less than that of spring A306, top contact block 402 will slide in top contact groove 401, causing spring B403 to contract under force until... The side of the horizontal plate of the connecting block 308 contacts the inner wall of the connecting groove 307. At this time, the position of the collection box 204 in the receiving groove 103 is fixed. Furthermore, the force generated by the contraction of the spring B403 not only makes the position of the connecting block 308 in the connecting groove 307 more stable, but also makes the contact between the scraping plate 202 and the contact groove 205 more tight. Next, after the cleaning robot body 1 is placed on the photovoltaic panel array, the control system starts the walking wheels 102, driving the body 101 to walk at a constant speed along the surface of the photovoltaic panel. The dust adsorption roller 104 rotates synchronously, and its surface adsorption layer adsorbs dust and fine particles on the panel surface under the action of electrostatic force and friction. When the dust on the surface of the dust adsorption roller 104 accumulates to a certain thickness, the scraping plate 202 is activated. The contact end of plate 202 contacts the dust adsorption roller 104, and the dust is scraped off by the mechanical scraping action at a set angle. The scraped dust slides into the collection box 204 through the guide surface of scraping plate 202, thus forming an automatic scraping-guiding-collection closed-loop dust removal process. The flexible connection structure between scraping plate 202 and collection box 204 can absorb the displacement error caused by vibration or tilt angle change, keep the scraping pressure constant, and avoid excessive wear or cleaning dead corners. When the amount of dust in collection box 204 reaches the set capacity, the operator can disassemble collection box 204 through the quick release mechanism of connecting block 308, clean the dust inside, and reinstall it to continue the operation. The whole process does not require external water source or chemical cleaning agent, and has the advantages of dry and low maintenance.

[0034] Finally, the following points should be noted: First, in the description of this application, it should be noted that, unless otherwise specified and limited, the terms "installation", "connection", and "linkage" should be interpreted broadly, and can be mechanical or electrical connections, or internal connections between two components, or direct connections. "Up", "down", "left", "right", etc. are only used to indicate relative positional relationships. When the absolute position of the described object changes, the relative positional relationship may change. Secondly: The accompanying drawings of the embodiments disclosed in this invention only involve the structures involved in the embodiments disclosed in this invention. Other structures can refer to the general design. In the absence of conflict, the same embodiment and different embodiments of this invention can be combined with each other. The above description is only 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 photovoltaic panel cleaning robot with self-cleaning adsorbing rollers, characterized by, The utility model relates to a cleaning robot, which comprises a cleaning robot body (1), a scratch cleaning assembly (2) and a connecting limiting assembly (3). The cleaning robot body (1) comprises a body (101), walking wheels (102), a containing groove (103) and a dust adsorption roller (104). Four walking wheels (102) are arranged on both sides of the body (101) to drive the cleaning robot to move along the surface of a photovoltaic panel. The dust adsorption roller (104) is rotatably installed in the containing groove (103) through a rotating shaft, and the roller surface thereof is in contact with the surface of the photovoltaic panel to adsorb dust. The scratch cleaning assembly (2) is arranged in the containing groove (103) and comprises sliding grooves (201), a scratch plate (202), sliding blocks (203), a collection box (204) and contact grooves (205). Two sliding grooves (201) are symmetrically arranged on the inner wall of the containing groove (103). The scratch plate (202) is arranged in the containing groove (103), and one end of the scratch plate (202) is in contact with the roller surface of the dust adsorption roller (104) to scratch and guide the dust on the surface of the dust adsorption roller (104) into the collection box (204). The connecting limiting assembly (3) detachably connects the collection box (204) to the inner wall of the containing groove (103) to realize the closed-loop cleaning process of automatic dust scratching, guiding and collecting. The sliding block (203) is slidably arranged in the sliding groove (201) and fixedly connected with the scratch plate (202), and the sliding block (203) is fixed in the sliding groove (201) through bolts. The collection box (204) is connected to the inner wall of the containing groove (103) through the connecting limiting assembly (3). The contact groove (205) is arranged on one side of the collection box (204), and the other end of the scratch plate (202) is in contact with the contact groove (205).

2. A photovoltaic panel cleaning robot with self-cleaning suction roller according to claim 1, characterized in that, The sliding groove (201) has an L-shaped structure with a large upper part and a small lower part. The vertical groove length of the sliding groove (201) is adapted to the length of the sliding block (203), and the horizontal groove thickness is adapted to the thickness of the sliding block (203), so as to realize the stable guiding installation of the scratch plate (202).

3. A photovoltaic panel cleaning robot with self-cleaning suction roller according to claim 1, characterized in that, The scratch plate (202) has an inclined structure, and the inclined direction thereof is opposite to the direction of the robot movement. The longitudinal section of the scratch plate (202) has a V-shaped structure, and the tip end thereof is downwardly arranged to guide the scratched dust to the collection box (204) along the plate surface.

4. A photovoltaic panel cleaning robot with self-cleaning suction roller according to claim 3, characterized in that, The top surface of the collection box (204) away from the scratch plate (202) is higher than the high end of the scratch plate (202), so as to prevent external airflow from interfering with the dust guiding path.

5. A photovoltaic panel cleaning robot with self-cleaning suction roller according to claim 4, characterized in that, The connecting limiting component (3) comprises a guide groove (301), a guide block (302), a limiting groove (303), a movable groove (304), a movable block (305), a spring A (306), a connecting groove (307), and a connecting block (308); the guide groove (301) is formed on the scraping plate (202); the guide block (302) is fixedly arranged in the contact groove (205) and is in plug-in cooperation with the guide groove (301); two limiting grooves (303) are symmetrically formed on the top surface of the collecting box (204); the movable groove (304) is formed in the limiting groove (303) and has a length greater than that of the limiting groove (303); the movable block (305) is slidably arranged in the movable groove (304) and is connected with the inner wall of the movable groove (304) through the spring A (306); two connecting grooves (307) are symmetrically formed on the inner wall of the accommodating groove (103); the connecting block (308) is slidably arranged in the connecting groove (307) and is fixedly connected with the movable block (305), and the connecting block (308) is in plug-in cooperation with the connecting groove (307) through the top contact component (4), thereby forming a fixed structure with elastic limiting and vibration absorption functions.

6. A photovoltaic panel cleaning robot with self-cleaning suction roller according to claim 5, characterized in that, The movable block (305) is in a T-shaped structure with a small upper part and a large lower part, and the connecting block (308) is in an L-shaped structure with a large upper part and a small lower part, so as to prevent dislocation when the robot vibrates or tilts.

7. A photovoltaic panel cleaning robot with self-cleaning suction roller according to claim 5, characterized in that, The top contact component (4) is arranged in the connecting groove (307), and the top contact component (4) comprises a top contact groove (401), a top contact block (402), and a spring B (403); the top contact block (402) is slidably arranged in the top contact groove (401) and abuts against the horizontal plate of the connecting block (308); the spring B (403) is fixedly connected with the inner wall of the top contact groove (401) and the top contact block (402) at two ends, and the spring force of the spring B (403) is smaller than that of the spring A (306), so as to realize flexible limiting.

8. A photovoltaic panel cleaning robot with self-cleaning suction roller according to claim 7, characterized in that, The top contact block (402) is in a prism frustum structure with a small upper part and a large lower part, and the inclined surface thereof is in contact with the inner wall of the top contact groove (401), so as to prevent the top contact block (402) from being pulled out.

9. A cleaning method of a photovoltaic panel cleaning robot with a self-cleaning adsorption roller, which is suitable for the photovoltaic panel cleaning robot with the self-cleaning adsorption roller according to any one of claims 1-8, and characterized in that it comprises the following steps: Step one: install the scraping plate (202) in the accommodating groove (103) through cooperation between the sliding block (203) and the sliding groove (201), and make one side of the scraping plate (202) in contact with the roller surface of the dust adsorption roller (104); Step two: guide and fix the position between the collecting box (204) and the scraping plate (202) through cooperation between the guide block (302) and the guide groove (301), and then install the collecting box (204) in the accommodating groove (103) through cooperation between the connecting block (308) and the connecting groove (307). ​ Step three: when the connecting block (308) horizontal plate is inserted into the connecting slot (307), under the elastic force of spring B (403), the top contact block (402) will top contact the connecting block (308) horizontal plate, so that the position of the connecting block (308) in the connecting slot (307) is more stable, and the contact between the scraping plate (202) and the contact slot (205) is more close. Step four: start the walking wheel (102) to move the cleaning robot body (1) on the photovoltaic panel, and through the dust adsorption roller (104), the dust on the photovoltaic panel is adsorbed, and through the scraping and guiding of the scraping plate (202), finally falls into the collection box (204), realizes automatic cleaning and collection.

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