Dry hanging type photovoltaic cleaning robot

Abstract

The invention discloses a dry-hanging type photovoltaic cleaning robot, and relates to the technical field of photovoltaic cleaning robots. Comprising a shell, pulleys arranged on the two sides of the shell, a guide rail fixed in the shell, a connecting block assembled on the guide rail in a sliding mode, a shaft rod penetrating through the connecting block, a roller brush and a rotating wheel which are assembled at the two ends of the shaft rod respectively, a scraper arranged at the bottom of the rotating wheel and a collecting box arranged adjacent to the rotating wheel, and the rotating wheel further comprises a sliding groove formed in the surface of the rotating wheel. By means of the photovoltaic cleaning robot, the problems that a roller brush of an existing photovoltaic cleaning robot is of a flexible bristle structure, softened bird droppings and polymers are extremely prone to adhering and winding on bristles and are difficult to automatically fall off, the continuous cleaning effect is affected, and secondary pollution is likely to be caused are solved; and if a scraping plate is purely adopted for direct scraping, the scraping plate can push the whole softened stains forwards, bird droppings and polymers are easily pushed to an originally clean photovoltaic panel area, the pollution range is enlarged, and the subsequent cleaning difficulty and cleaning cost are increased.

Description

Technical Field

[0001] This invention relates to the field of photovoltaic cleaning robot technology, specifically a dry-hanging photovoltaic cleaning robot. Background Technology

[0002] Dry-mounted photovoltaic cleaning robots are automated cleaning equipment that are directly mounted on the frame / rail of photovoltaic modules and move autonomously along the surface of the modules. They rely on roller brushes / air blowing / small amount of water washing to remove dust, sand, bird droppings and other attachments, restoring the light transmittance and power generation efficiency of the modules. They are the mainstream intelligent operation and maintenance solution for large ground power stations, tracking brackets and rooftop distributed photovoltaics.

[0003] For example, a photovoltaic cleaning robot with publication number CN118455224B can progressively and repeatedly scrape bird droppings off photovoltaic panels using a fixed box and a storage box, ensuring that the bird droppings on the photovoltaic panels are cleaned. Through an arrangement method, it can cover the entire surface of the photovoltaic panel, and can also clean bird droppings or polymers in some corners of the photovoltaic panel, improving cleaning efficiency and ensuring thorough cleaning. However, when dealing with stubborn sticky stains such as bird droppings and dried polymers attached to the surface of photovoltaic panels, existing photovoltaic cleaning robots generally adopt the conventional cleaning process of first spraying to wet and soften, and then cleaning with roller brushes or scrapers. This method has obvious defects in practical applications.

[0004] When using roller brushes for cleaning, because roller brushes mostly use flexible bristle structures, bird droppings and polymers softened by spraying have strong adhesion and are very easy to stick and wrap around the surface and roots of the bristles, making it difficult for them to fall off on their own during the cleaning process. As the cleaning stroke increases, the stains will continue to accumulate and solidify on the bristles, resulting in a significant decrease in the cleaning ability of the bristles. At the same time, the bristles with stains can easily cause secondary pollution to the photovoltaic panels in the clean area during subsequent cleaning, affecting the overall cleaning effect.

[0005] If a scraper is used for cleaning, since the scraper only has a planar scraping function and no synchronous collection structure, the scraper will directly push the softened sticky stains forward during the movement, and cannot effectively peel them off and remove them from the surface of the photovoltaic panel. This will easily push the originally concentrated bird droppings and polymers to the originally clean photovoltaic panel area, which will not only expand the pollution range, but also form continuous stains and drag marks on the panel surface, greatly increasing the difficulty and cost of subsequent cleaning, making it difficult to achieve efficient and thorough cleaning.

[0006] To address the aforementioned issues, there is an urgent need for innovative designs based on the existing dry-hanging photovoltaic cleaning robots. Summary of the Invention

[0007] This invention addresses the problem of overly simplistic solutions in existing technologies by providing a significantly different approach. Specifically, the invention aims to offer a dry-hanging photovoltaic cleaning robot to solve the aforementioned problem mentioned in the background: existing photovoltaic cleaning robots typically use a spray method to soften and moisten stubborn stains such as bird droppings and dried polymers on the surface of photovoltaic panels before cleaning them with a roller brush. This conventional method has significant drawbacks: the roller brush uses a flexible bristle structure, making it easy for softened bird droppings and polymers to adhere and become entangled on the bristles, hindering their removal and affecting continuous cleaning effectiveness while also causing secondary pollution; if a scraper is used directly, it pushes the softened stains forward, potentially pushing bird droppings and polymers into previously clean photovoltaic panel areas, thus expanding the contamination area and increasing the difficulty and cost of subsequent cleaning.

[0008] To achieve the above objectives, the present invention provides the following technical solution: a dry-hanging photovoltaic cleaning robot, comprising a shell, pulleys disposed on both sides of the shell, a guide rail fixed inside the shell, a connecting block slidably mounted on the guide rail, a shaft passing through the connecting block, roller brushes and a rotating wheel respectively mounted on both ends of the shaft, a scraper disposed at the bottom of the rotating wheel, and a collection box arranged adjacent to the rotating wheel, wherein the rotating wheel further comprises a groove formed on its surface;

[0009] The negative suction chamber and air chamber are fixed inside it;

[0010] The housing also includes a resistance scraping structure for scraping off and adsorbing dirt, and a resistance collection structure for unloading and collecting.

[0011] The resistance scraping structure includes a spiral spring disposed in the negative suction chamber, a drive groove opened on the inner wall of the rotating wheel, a piston rod slidably passing through the air chamber, a drive rod with one end adapted to the drive groove and the other end hinged to the piston rod, a first connecting rod with one end hinged to the piston rod, a slide rail fixed inside the rotating wheel, a slider slidably disposed on the slide rail and hinged to the other end of the first connecting rod, a second connecting rod with both ends respectively hinged to the slider and the middle of the scraper, and a negative suction port opened in the negative suction chamber and communicating with the air chamber.

[0012] The resistance collection structure includes a stop block fixed to the side wall of the collection box near the rotating wheel, and a rotating roller rotatably disposed inside the collection box and located below the stop block;

[0013] The scraper initially adheres to the inner wall of the negative suction chamber. When it encounters resistance upon contact with dirt, it unfolds along the slide groove and compresses the spiral spring to store energy. At the same time, it drives the drive rod through the drive groove, and through the first connecting rod, the slider, and the second connecting rod, it pulls out the piston rod, causing the air chamber to generate negative pressure and adsorbing dirt into the negative suction chamber through the negative suction port.

[0014] Preferably, the pulley surface is in contact with the side of the photovoltaic panel, and the connecting block is rotatably coupled with the shaft to drive the rotating wheel and the roller brush to rotate synchronously.

[0015] Preferably, one end of the spiral spring is connected to the rotation axis of the scraper, and the other end is fixed to the inner wall of the negative suction chamber. After the resistance of the dirt disappears, the scraper is driven to reset and fit.

[0016] Preferably, the scraper has a protrusion that slides against the wall of the drive groove, and the scraper swings when it is unfolded.

[0017] Preferably, the hinge point between the first connecting rod and the piston rod is close to the opening end of the air chamber, and when the slider slides, it pulls the piston rod through the first connecting rod to form a stable negative pressure.

[0018] Preferably, the negative suction port faces the working surface of the scraper, and its edge is flush with the contact surface of the scraper.

[0019] Preferably, the stop block corresponds to the "14" position on the rotation path of the rotary wheel and is an inclined guide slope, used to slightly push the scraper to form a discharge port.

[0020] Preferably, the expansion stroke of the scraper after contacting the stop block is less than the critical stroke for triggering negative pressure in the air chamber.

[0021] Preferably, the axis of the rotating roller is parallel to the axis of the rotating wheel so that the scraper can smoothly slide and return to its original position after unloading.

[0022] Preferably, the multiple rotating wheels are arranged in an array on the shaft, and the collection box is elongated to accommodate the unloading requirements of the array of rotating wheels.

[0023] Compared with the prior art, the beneficial effects of the present invention are:

[0024] 1. When the scraper comes into contact with stubborn dirt such as hard bird droppings or polymers, the resistance generated by the dirt drives the scraper to unfold along the groove of the rotating wheel. At the same time, the spiral spring in the negative suction chamber stores energy. When the scraper unfolds, its side wall protrusion slides along the drive groove and drives the drive rod to swing. The first connecting rod pulls the slider to slide linearly along the slide rail. Then, the second connecting rod pulls the piston rod to be pulled out from the air chamber, so that a stable negative pressure is formed inside the air chamber. Through the negative suction port that is connected to the air chamber and fits the working surface of the scraper, the scraped dirt is immediately adsorbed into the negative suction chamber. This avoids the dirt adhesion and entanglement caused by traditional roller brushes and also eliminates the dirt pushing and diffusion caused by simple scrapers, realizing the continuous operation of dirt "scraping-adsorption-storage".

[0025] 2. Once the dirt is adsorbed into the negative suction chamber, the resistance on the scraper disappears, and the elastic restoring force of the spiral spring drives the scraper to quickly reset and re-adhere to the inner wall of the negative suction chamber, ensuring the sealing and negative pressure adsorption effect of subsequent cleaning operations. As the roller continues to rotate, when the negative suction chamber containing dirt rotates to the "14" position of the corresponding collection box, the scraper contacts the inclined guide surface of the stop block and is slightly pushed apart. At this time, the expansion stroke of the scraper is less than the critical stroke to trigger the negative pressure of the air chamber, the negative pressure adsorption function is turned off, and the dirt falls accurately into the long strip collection box under its own weight. Then the scraper slides smoothly along the roller surface to reset, completing the unloading cycle. The whole process does not require additional power drive, realizing the automatic connection between cleaning and unloading. Attached Figure Description

[0026] Figure 1 This is a schematic diagram of the overall structure of the photovoltaic cleaning robot of the present invention.

[0027] Figure 2 This is a top view of the overall structure of the photovoltaic cleaning robot of the present invention.

[0028] Figure 3 This is a schematic diagram of the bird droppings cleaning structure of the photovoltaic cleaning robot of the present invention.

[0029] Figure 4 This is a schematic diagram of the cleaning and collection structure of the present invention.

[0030] Figure 5 This is a schematic diagram of the bird droppings scraper structure of the present invention.

[0031] Figure 6 This is a schematic diagram of the collection box structure and a partially enlarged view of the present invention.

[0032] Figure 7 This is a schematic diagram of the scraper structure of the present invention.

[0033] Figure 8 This is a schematic diagram of the internal structure of the scraper wheel of the present invention.

[0034] Figure 9 This is a schematic diagram of the scraper structure of the present invention in its unfolded state.

[0035] In the diagram: 1. Shell; 2. Photovoltaic panel; 3. Pulley; 4. Connecting block; 5. Guide rail; 6. Collection box; 7. Roller brush; 8. Rotary wheel; 801. Slide groove; 9. Shaft; 10. Scraper; 11. Negative suction chamber; 12. Stop block; 13. Rotary roller; 14. Drive groove; 15. Air chamber; 16. Piston rod; 17. Drive rod; 18. First connecting rod; 19. Slide rail; 20. Slider; 21. Second connecting rod; 22. Negative suction port. Detailed Implementation

[0036] 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.

[0037] Please see Figures 1 to 9 The present invention provides a technical solution: a dry-hanging photovoltaic cleaning robot, including a shell 1, pulleys 3 arranged on both sides of the shell 1, a guide rail 5 fixed inside the shell 1, a connecting block 4 slidably mounted on the guide rail 5, a shaft 9 passing through the connecting block 4, a roller brush 7 and a rotating wheel 8 respectively mounted on both ends of the shaft 9, a scraper 10 arranged at the bottom of the rotating wheel 8, and a collection box 6 arranged adjacent to the rotating wheel 8. The rotating wheel 8 also includes a groove 801 formed on its surface.

[0038] The negative suction chamber 11 and the air chamber 15 are fixed inside it;

[0039] The housing 1 also includes a resistance scraping structure for scraping off and adsorbing dirt, and a resistance collection structure for unloading and collecting.

[0040] The resistance scraping structure includes a spiral spring disposed in the negative suction chamber 11, a drive groove 14 opened on the inner wall of the rotating wheel 8, a piston rod 16 slidably passing through the air chamber 15, a drive rod 17 with one end adapted to the drive groove 14 and the other end hinged to the piston rod 16, a first connecting rod 18 with one end hinged to the piston rod 16, a slide rail 19 fixed inside the rotating wheel 8, a slider 20 slidably disposed on the slide rail 19 and hinged to the other end of the first connecting rod 18, a second connecting rod 21 with both ends hinged to the slider 20 and the middle of the scraper 10 respectively, and a negative suction port 22 opened in the negative suction chamber 11 and communicating with the air chamber 15.

[0041] The resistance collection structure includes a stop 12 fixed to the side wall of the collection box 6 near the rotating wheel 8, and a rotating roller 13 rotatably disposed inside the collection box 6 and located below the stop 12;

[0042] The scraper 10 initially adheres to the inner wall of the negative suction chamber 11. When it encounters resistance upon contact with dirt, it unfolds along the slide groove 801 and compresses the spiral spring to store energy. At the same time, it drives the drive rod 17 through the drive groove 14, and through the first connecting rod 18, the slider 20, and the second connecting rod 21, it pulls out the piston rod 16, causing the air chamber 15 to generate negative pressure and adsorbing dirt into the negative suction chamber 11 through the negative suction port 22.

[0043] In this embodiment, pulleys 3 are symmetrically installed on both sides of the housing 1, so that the wheel surface of pulley 3 is in contact with the side of photovoltaic panel 2. Guide rail 5 is fixed inside the housing 1. Connecting block 4 is slidably assembled on guide rail 5. After the shaft 9 passes through the connecting block 4, roller brush 7 and rotating wheel 8 are respectively assembled at both ends. Multiple rotating wheels 8 are arranged in an array on shaft 9. Scraper 10 is rotatably set at the bottom of rotating wheel 8 and is adapted to the sliding groove 801 on the surface of rotating wheel 8. Negative suction chamber 11 and air chamber 15 are fixed inside rotating wheel 8. Scroll spring is placed in negative suction chamber 11, one end of which is connected to the rotating shaft of scraper 10, and the other end is fixed to the inner wall of negative suction chamber 11. Drive groove 1 4 is opened on the inner wall of the rotating wheel 8. The piston rod 16 slides through the air chamber 15. The two ends of the drive rod 17 are respectively hinged to the drive groove 14 and the piston rod 16. The slide rail 19 is fixed inside the rotating wheel 8. The slider 20 is slidably set on the slide rail 19. The two ends of the first connecting rod 18 are hinged to the piston rod 16 and the slider 20. The two ends of the second connecting rod 21 are hinged to the slider 20 and the middle of the scraper 10. The negative suction port 22 is opened in the negative suction chamber 11 and communicates with the air chamber 15. The collection box 6 is arranged adjacent to the rotating wheel 8 and is long and narrow. The stop block 12 is fixed on the side wall of the collection box 6 near the rotating wheel 8. The rotating roller 13 is rotatably set inside the collection box 6 and located below the stop block 12.

[0044] The wheel surface of pulley 3 is in contact with the side of photovoltaic panel 2, and connecting block 4 and shaft 9 rotate to drive wheel 8 and roller brush 7 to rotate synchronously.

[0045] In this embodiment, the wheel surface of the pulley 3 is attached to the side of the photovoltaic panel 2 to form a stable mounting support. When the connecting block 4 moves along the guide rail 5, it can synchronously drive the rotating wheel 8 and the roller brush 7 to rotate, so as to realize the robot's unidirectional movement and cleaning along the photovoltaic panel 2, ensuring that the cleaning coverage is without dead corners.

[0046] One end of the spiral spring is connected to the rotation axis of the scraper 10, and the other end is fixed to the inner wall of the negative suction chamber 11. After the resistance of the dirt disappears, the scraper 10 is driven to reset and fit.

[0047] In this embodiment, in the initial state, the scraper 10 adheres to the inner wall of the negative suction chamber 11 under the preload of the spiral spring. When the scraper 10 contacts the dirt and encounters resistance, the spiral spring is compressed and stores energy. When the dirt is scraped off and the resistance disappears, the elastic restoring force of the spiral spring can quickly drive the scraper 10 to reset and re-adhere to the inner wall of the negative suction chamber 11, preparing for the next cleaning operation.

[0048] The scraper 10 has a protrusion that slides against the wall of the drive groove 14. When the scraper 10 is unfolded, it drives the drive rod 17 to swing.

[0049] In this embodiment, the protrusion slides tightly against the wall of the drive groove 14 to form a stable transmission fit. When the scraper 10 is resisted by dirt and unfolds along the slide groove 801, the protrusion will slide along the extension direction of the drive groove 14, thereby driving the drive rod 17 to swing around the hinge point with the piston rod 16, thus realizing the effective transmission of power.

[0050] The hinge point between the first connecting rod 18 and the piston rod 16 is close to the opening end of the air chamber 15. When the slider 20 slides, it pulls the piston rod 16 through the first connecting rod 18 to form a stable negative pressure.

[0051] In this embodiment, when the slider 20 slides along the slide rail 19, the piston rod 16 is pulled along the air chamber 15 axially by the traction action of the first connecting rod 18, so that a stable negative pressure environment is formed inside the air chamber 15, providing continuous power for the adsorption of dirt.

[0052] The negative suction port 22 faces the working surface of the scraper 10, and its edge is flush with the contact surface of the scraper 10.

[0053] In this embodiment, the opening direction of the negative suction port 22 is directly facing the working surface of the scraper 10, and the edge of the negative suction port 22 is flush with the contact surface of the scraper 10. When the scraper 10 is in contact with the inner wall of the negative suction chamber 11, the negative suction port 22 can be sealed, ensuring that all the negative pressure generated by the air chamber 15 is applied to the working surface, improving the dirt adsorption efficiency and avoiding negative pressure leakage.

[0054] The stop block 12 corresponds to the "14" point position on the rotation path of the rotary wheel 8 and is an inclined guide slope, used to slightly push the scraper 10 to form a discharge port.

[0055] In this embodiment, the stop 12 precisely corresponds to the "14" position on the rotation path of the rotary wheel 8 (i.e., the 14 o'clock position on the disc clock), and the end of the stop 12 is inclined with a guide slope. When the negative suction chamber 11 rotates to this position with the rotary wheel 8, the scraper 10 contacts the slope of the stop 12 and is slightly pushed apart under the action of the rotation force of the rotary wheel 8, forming a discharge port for the discharge of dirt and guiding the dirt to fall in a specific direction.

[0056] The expansion stroke of scraper 10 after contact with stop 12 is less than the critical stroke for triggering negative pressure in air chamber 15.

[0057] In this embodiment, the expansion stroke of the scraper 10 after contacting the baffle 12 is less than the critical stroke for triggering the air chamber 15 to generate negative pressure. At this time, the air chamber 15 does not generate suction force, thus preventing the dirt from being sucked back into the negative suction chamber 11 by the negative pressure and ensuring that the dirt falls smoothly into the collection box 6 under its own weight.

[0058] The axis of the rotating roller 13 is parallel to the axis of the rotating wheel 8 so that the scraper 10 can smoothly slide and reset after unloading.

[0059] In this embodiment, the axis of the rotating roller 13 is parallel to the axis of the rotating wheel 8, and the wheel surface of the rotating roller 13 is adapted to the outer side wall of the scraper 10. After the scraper 10 finishes unloading, it will slide smoothly along the wheel surface of the rotating roller 13, converting sliding friction into rolling friction, reducing the reset resistance, and realizing the scraper 10's jam-free reset.

[0060] Multiple rotating wheels 8 are arranged in an array on the shaft 9, and the collection box 6 is long and narrow to accommodate the unloading requirements of the array of rotating wheels 8.

[0061] In this embodiment, the assembly gap between adjacent rotating wheels 8 is controlled to be within a very small range (≤1mm), and the scraper 10 at the bottom of each rotating wheel 8 forms a continuously overlapping cleaning surface during rotation. At the same time, the scraper 10 always maintains a close fit with the surface of the photovoltaic panel, so that bird droppings, polymers and other dirt cannot pass through the gaps between adjacent rotating wheels 8 during the scraping process. Even dirt with small particle size will be scraped off simultaneously by the continuously overlapping scraper 10 and adsorbed into the negative suction chamber 11, completely avoiding the problem of material leakage from gaps and ensuring full cleaning coverage without dead corners.

[0062] Working principle: When using this dry-hanging photovoltaic cleaning robot, when the scraper 10 at the bottom of the rotating wheel 8 comes into contact with stubborn dirt such as hard bird droppings or polymers, it unfolds along the slide groove 801 due to the resistance of the dirt. At the same time, the spiral spring in the negative suction chamber 11 is compressed to store energy. When the scraper 10 unfolds, the protrusion on its side wall slides along the drive groove 14, which drives the drive rod 17 to swing. The first connecting rod 18 pulls the slider 20 to slide along the slide rail 19. Then, the second connecting rod 21 pulls the piston rod 16 out of the air chamber 15, so that the air chamber 15 generates negative pressure. The dirt that has been scraped is then sucked into the negative suction chamber 11 through the negative suction port 22.

[0063] Once the dirt is absorbed, the resistance on the scraper 10 disappears, and the spiral spring drives the scraper 10 to reset and re-adhere to the inner wall of the negative suction chamber 11. As the rotating wheel 8 continues to rotate, when the negative suction chamber 11 containing dirt rotates to the "14" position, the scraper 10 contacts the inclined surface of the stop block 12 and is slightly pushed apart. At this time, the expansion stroke of the scraper 10 has not reached the negative pressure critical value, and the dirt slides into the elongated collection box 6 under its own weight. Then, the scraper 10 smoothly slides along the wheel surface of the rotating roller 13 to reset, completing one dirt removal and collection operation.

[0064] Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art can still modify the technical solutions described in the foregoing embodiments or make equivalent substitutions for some of the technical features. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. A dry-hanging photovoltaic cleaning robot, comprising a housing (1), pulleys (3) disposed on both sides of the housing (1), a guide rail (5) fixed inside the housing (1), a connecting block (4) slidably mounted on the guide rail (5), a shaft (9) passing through the connecting block (4), roller brushes (7) and a rotating wheel (8) respectively mounted on both ends of the shaft (9), a scraper (10) disposed at the bottom of the rotating wheel (8), and a collection box (6) arranged adjacent to the rotating wheel (8), characterized in that: The wheel (8) also includes a groove (801) formed on its surface. The negative suction chamber (11) and air chamber (15) are fixed inside it. The housing (1) also includes a resistance scraping structure for scraping off and adsorbing dirt, and a resistance collection structure for unloading and collecting. The resistance scraping structure includes a spiral spring disposed in the negative suction chamber (11), a drive groove (14) opened on the inner wall of the rotating wheel (8), a piston rod (16) slidably passing through the air chamber (15), a drive rod (17) with one end adapted to the drive groove (14) and the other end hinged to the piston rod (16), a first connecting rod (18) with one end hinged to the piston rod (16), a slide rail (19) fixed inside the rotating wheel (8), a slider (20) slidably disposed on the slide rail (19) and hinged to the other end of the first connecting rod (18), a second connecting rod (21) with both ends hinged to the middle of the slider (20) and the scraper (10) respectively, and a negative suction port (22) opened in the negative suction chamber (11) and communicating with the air chamber (15). The resistance collection structure includes a stop (12) fixed to the side wall of the collection box (6) near the rotating wheel (8), and a rotating roller (13) rotatably disposed in the collection box (6) and located below the stop (12). The scraper (10) initially adheres to the inner wall of the negative suction chamber (11). When it encounters resistance in contact with dirt, it unfolds along the slide groove (801) and compresses the spiral spring to store energy. At the same time, it drives the drive rod (17) through the drive groove (14), and pulls out the piston rod (16) through the first connecting rod (18), the slider (20), and the second connecting rod (21), so that the air chamber (15) generates negative pressure and absorbs dirt into the negative suction chamber (11) through the negative suction port (22).

2. The dry-hanging photovoltaic cleaning robot according to claim 1, characterized in that: The pulley (3) is attached to the side of the photovoltaic panel (2), and the connecting block (4) and the shaft (9) are rotated together to drive the rotating wheel (8) and the roller brush (7) to rotate synchronously.

3. The dry-hanging photovoltaic cleaning robot according to claim 1, characterized in that: One end of the spiral spring is connected to the rotation axis of the scraper (10), and the other end is fixed to the inner wall of the negative suction chamber (11). After the resistance of the dirt disappears, the scraper (10) is driven to reset and fit.

4. The dry-hanging photovoltaic cleaning robot according to claim 1, characterized in that: The scraper (10) has a protrusion that slides against the wall of the drive groove (14). When the scraper (10) is unfolded, it drives the drive rod (17) to swing.

5. A dry-hanging photovoltaic cleaning robot according to claim 1, characterized in that: The hinge point between the first connecting rod (18) and the piston rod (16) is close to the opening end of the air chamber (15). When the slider (20) slides, it pulls the piston rod (16) through the first connecting rod (18) to form a stable negative pressure.

6. The dry-hanging photovoltaic cleaning robot according to claim 1, characterized in that: The negative suction port (22) opens towards the working surface of the scraper (10), and its edge is flush with the contact surface of the scraper (10).

7. A dry-hanging photovoltaic cleaning robot according to claim 1, characterized in that: The stop (12) corresponds to the "14" point position of the rotation path of the wheel (8) and is an inclined guide slope, used to slightly push the scraper (10) to form a discharge port.

8. A dry-hanging photovoltaic cleaning robot according to claim 1, characterized in that: The expansion stroke of the scraper (10) after contacting the stop (12) is less than the critical stroke for triggering the negative pressure of the air chamber (15).

9. A dry-hanging photovoltaic cleaning robot according to claim 1, characterized in that: The axis of the rotating roller (13) is parallel to the axis of the rotating wheel (8) so that the scraper (10) can smoothly slide and reset after unloading.

10. A dry-hanging photovoltaic cleaning robot according to claim 1, characterized in that: Multiple of the aforementioned rollers (8) are arranged in an array on the shaft (9), and the collection box (6) is long and narrow to accommodate the unloading requirements of the array of rollers (8).

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