A photovoltaic cleaning robot

Abstract

This invention relates to the field of photovoltaic cleaning technology and discloses a photovoltaic cleaning robot, including a walking gantry with a walking device for ground movement near the ground end, a cleaning mechanism, and a suspension mechanism. The suspension mechanism includes adjustable-length suspension ropes located at both ends of the walking gantry, with the free ends of the ropes connected to the ends of the cleaning mechanism. The cleaning mechanism includes multiple detachable central splicing shells, with end splicing shells detachably connected to the outermost central splicing shell. Each end of the central splicing shell has a first suspension plate rotatably connected to a cleaning roller. This invention, through the modular combination of freely addable and removeable central and end splicing shells, achieves flexible adjustment of the cleaning mechanism's span, precisely adapting to different specifications of photovoltaic modules, effectively reducing equipment manufacturing costs and recurring purchase expenses.

Description

Technical Field

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

[0002] A photovoltaic (PV) cleaning robot is an intelligent cleaning device applied to PV power generation systems. It is primarily used to automatically remove dust, dirt, bird droppings, snow, and other deposits from the surface of PV modules. The core function of this equipment is to restore the optical transmission performance of the PV module's light-receiving surface through timed or on-demand cleaning operations, thereby ensuring the power generation efficiency of the PV array and effectively reducing the maintenance costs and safety risks associated with manual cleaning and high-altitude operations. With the continuous expansion of PV power plant scale and the increasing demands for refined management of power generation efficiency, PV cleaning robots have become an important supporting equipment for improving the economic efficiency of PV systems throughout their entire lifecycle.

[0003] In existing technologies, photovoltaic (PV) cleaning robots typically employ a fixed structural dimension matching the width of the PV panel, using snap-fit ​​or rolling clamping to the side frames of the panel to move and clean along its surface. However, in practical engineering applications, PV modules do not have a completely uniform width specification, but rather exist in several standardized width series. This difference in specifications necessitates the design and manufacture of cleaning robots of different lengths for PV panels of varying widths. This situation not only increases the cost of molds and spare parts inventory in the equipment manufacturing process but also causes incompatibility issues for end users when replacing PV panels or performing cross-site scheduling, resulting in a double increase in overall manufacturing and operating costs. Therefore, it is necessary to improve the structure of existing PV cleaning robots to enhance their adaptability to PV panels of different specifications. Summary of the Invention

[0004] This invention provides a photovoltaic cleaning robot that solves the problems mentioned in the background art.

[0005] To achieve the above objectives, the present invention provides the following technical solution:

[0006] A photovoltaic cleaning robot includes a walking gantry, a walking device for walking on the ground is provided at the near-ground end of the walking gantry, and a cleaning mechanism and a suspension mechanism.

[0007] The suspension mechanism includes adjustable suspension ropes installed at both ends of the traveling gantry, with the free end of the suspension rope connected to the end of the sweeping mechanism.

[0008] The cleaning mechanism includes multiple detachable central splicing shells. The outermost central splicing shell is detachably connected to an end splicing shell. Both ends of the central splicing shell are provided with first suspension plates. The first suspension plates are rotatably connected to a cleaning roller. The end splicing shell is provided with a second suspension plate on the side adjacent to the central splicing shell. The second suspension plate is provided with a rotating shaft that rotates synchronously with the cleaning roller.

[0009] As a preferred embodiment of the present invention, the two ends of the sweeping roller are respectively provided with a sleeve and a clamping head, and a rotation drive device is provided on one of the second suspension plates. The output shaft of the rotation drive device is connected to the rotation shaft. A sleeve is provided at the end of the rotation shaft adjacent to the clamping head on the sweeping roller, and a clamping head is provided at the end of the rotation shaft adjacent to the sleeve on the sweeping roller.

[0010] As a preferred embodiment of the present invention, a central support is provided in the middle of the end splicing shell, and a traveling wheel that rolls along the surface of the photovoltaic panel is rotatably connected to the central support. A side support is provided at the end of the end splicing shell away from the central splicing shell, and a positioning wheel that rolls along the side of the photovoltaic panel is rotatably connected to the side support.

[0011] As a preferred embodiment of the present invention, the end of the end splicing shell near the center of the cleaning mechanism and both ends of the middle splicing shell are provided with fixing plates, and adjacent fixing plates are locked and fixed by through locking bolts and locking nuts.

[0012] As a preferred embodiment of the present invention, the middle splicing shell is provided with a scraper that slides along the surface of the photovoltaic panel on the side opposite to the cleaning direction, and the middle part of the cleaning mechanism is provided with a dust removal component for generating negative pressure on the side of the direction of travel.

[0013] As a preferred embodiment of the present invention, the dust removal assembly includes an exhaust pipe disposed on the surface of the central splicing shell. The central splicing shell is provided with a suction head on the side of the cleaning direction. The suction head is connected to the exhaust pipe through an exhaust bend. A connecting hose is provided at the far end of the exhaust pipe. An air pipe plug for sealing the connecting hose is provided on the surface of the end splicing shell on the side away from the ground. A negative pressure generating device is provided on the surface of the end splicing shell on the side near the ground. A connecting hose is provided at the suction end of the negative pressure generating device.

[0014] As a preferred embodiment of the present invention, the end of the traveling gantry is provided with a winding device for adjusting the length of the suspension rope, and the traveling gantry is also provided with an auxiliary lateral movement component that drives the sweeping mechanism to move synchronously with the traveling gantry.

[0015] As a preferred embodiment of the present invention, the auxiliary lateral movement assembly includes a rotating seat disposed on the surface of the end splicing housing, the end of a guide rod being rotatably connected to the rotating seat, a guide column being provided on the traveling gantry, sliding seats being slidably connected to both sides of the guide column, and a guide block being rotatably connected to the end of the sliding seat and slidingly engaging with the guide rod.

[0016] As a preferred embodiment of the present invention, a sliding rod is provided on the far side of the end splicing shell, and a fixed rod is provided at the end of the sliding rod to be connected to the free end of the suspension rope. A floating slider is slidably connected to the middle of the sliding rod, and a return spring is sleeved on the outside of the sliding rod to drive the floating slider to return to the end splicing shell. A guide wheel that cooperates with the suspension rope is rotatably connected to the side of the floating slider.

[0017] The present invention has the following advantages:

[0018] 1. Highly Adaptable Modular Design: The combination of freely addable and removeable central and end splicing shells enables stepless or segmented adjustment of the cleaning mechanism's lateral span, allowing for precise matching of photovoltaic modules of varying widths. This eliminates the need to manufacture dedicated equipment for each photovoltaic panel size, significantly reducing equipment manufacturing costs and the user's repetitive procurement costs.

[0019] 2. Convenient Deployment and Adjustment Mechanism: The independent winding devices at both ends of the traveling gantry control the length of the suspension rope. Combined with the floating connection structure between the suspension rope and the end of the cleaning mechanism, flexible adjustments to the height and tilt angle of the cleaning mechanism are achieved. This not only simplifies the installation and positioning process of the equipment on photovoltaic arrays in different terrains but also allows the same traveling gantry to be compatible with cleaning mechanisms assembled from different lengths, improving the equipment's versatility and on-site deployment efficiency.

[0020] 3. Flexible Contact and Adaptive Protection: By incorporating a floating guide mechanism consisting of a return spring and a floating slider on the end splicing housing, the tension of the suspension rope can be dynamically adjusted according to the undulations of the photovoltaic panel surface. This design ensures reliable contact between the cleaning mechanism and the photovoltaic panel while effectively buffering the mechanical impact caused by uneven panel surfaces, protecting the photovoltaic glass from damage, and reducing the pressure of the traveling wheels on the panel surface.

[0021] 4. High-efficiency synchronous cleaning and anti-deviation stability: Multiple cleaning rollers achieve axial series synchronous rotation through the cooperation of clamps and clamps. Only a single rotary drive device is needed to drive the entire row of cleaning rollers, resulting in a compact structure and reliable transmission. Simultaneously, the guide columns, sliding seats, and guide rods in the auxiliary lateral movement assembly form a parallelogram-shaped follow-up constraint, eliminating the swaying effect of the cleaning mechanism in the suspended state and ensuring precise synchronization between the cleaning trajectory and the gantry movement trajectory.

[0022] 5. Three-stage combined operation of dust collection, sweeping, and scraping: This system integrates negative pressure suction, roller brush peeling, and scraper removal into a single stroke, achieving graded treatment of floating dust, attached dirt, and stubborn residue on the photovoltaic panel surface. The suction head of the dust collection component is positioned at the front and matches the dust throwing direction of the sweeping roller, greatly improving dust collection efficiency, avoiding secondary dust pollution, and resulting in significantly better cleaning performance than single cleaning methods.

[0023] 6. Reliable Structure and Convenient Maintenance: The spliced ​​shells are rigidly connected by through-bolts and locking nuts, and a sealing structure can be added to the joint surface to ensure the structural stability of the sweeping mechanism and its internal dustproof and waterproof performance in harsh outdoor environments. The modular splicing method also facilitates daily inspection and replacement of vulnerable parts, reducing the maintenance cost throughout the entire life cycle. Attached Figure Description

[0024] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0025] Figure 1 This is a structural schematic diagram of a photovoltaic cleaning robot.

[0026] Figure 2 This is a front view of a photovoltaic cleaning robot.

[0027] Figure 3 This is a schematic diagram of the suspension mechanism in a photovoltaic cleaning robot.

[0028] Figure 4 This is a schematic diagram of the cleaning mechanism in a photovoltaic cleaning robot.

[0029] Figure 5 This is a schematic diagram of the near-ground end splicing shell structure of a photovoltaic cleaning robot.

[0030] Figure 6 for Figure 5 The front view.

[0031] Figure 7 This is a schematic diagram of the structure of the end splicing shell at the far end of a photovoltaic cleaning robot.

[0032] Figure 8 This is a schematic diagram of the structure above the centrally assembled shell of a photovoltaic cleaning robot.

[0033] Figure 9 This is a schematic diagram of the structure below the centrally assembled shell of a photovoltaic cleaning robot.

[0034] In the diagram: 1. Traveling gantry; 2. Traveling device; 3. Suspension mechanism; 4. Cleaning mechanism; 5. Suspension rope; 6. Rotating seat; 7. Guide rod; 8. Guide block; 9. Sliding seat; 10. Guide column; 11. Auxiliary lateral movement assembly; 12. Fixed rod; 13. Return spring; 14. Floating slider; 15. Guide wheel; 16. Sliding rod; 17. Winding device; 18. Middle splicing shell; 19. End splicing shell; 20. Dust removal assembly; 21. Middle 21. Main support; 22. Traveling wheel; 23. Side support; 24. Positioning wheel; 25. Second suspension plate; 26. Sleeve; 27. Rotary drive device; 28. Fixing plate; 29. ​​Locking nut; 30. Locking bolt; 31. Negative pressure generating device; 32. Connecting hose; 33. Clamp; 34. Air pipe plug; 35. Exhaust main pipe; 36. Exhaust bend; 37. Suction head; 38. First suspension plate; 39. Cleaning roller; 40. Scraper; 41. Rotating shaft. Detailed Implementation

[0035] 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.

[0036] In one embodiment, see Figure 1 , Figure 2 , Figure 4 , Figure 5 , Figure 6 , Figure 7 , Figure 8 and Figure 9 A photovoltaic cleaning robot includes a walking gantry 1, which is preferably made of aluminum alloy profiles formed by welding, forming an overall portal frame structure with characteristics such as light weight, high strength, and resistance to environmental corrosion. A walking device 2 is configured on each side of the near-ground end of the walking gantry 1. The walking device 2 includes a walking drive motor, a reducer, and a set of moving wheels. The walking drive motor transmits torque to the moving wheels via the reducer to drive the walking gantry 1 to move along the length of the photovoltaic array. The walking device 2 further integrates a navigation and positioning unit and an obstacle avoidance sensing module to achieve autonomous path planning and obstacle recognition, ensuring the safety of the equipment during operation.

[0037] The suspension mechanism 3 is mounted on the crossbeam of the traveling gantry 1 and is used to suspend the cleaning mechanism 4 and adaptively adjust its working height. The suspension mechanism 3 includes winding devices 17 located at the left and right ends of the traveling gantry 1. The winding devices 17 are preferably electric winches, with high-strength synthetic fiber suspension ropes 5 wound around their drums. The free ends of the suspension ropes 5 extend downwards and are fixedly connected to the ends of the cleaning mechanism 4. By differentially or synchronously controlling the two winding devices 17, the vertical distance and tilt of the cleaning mechanism 4 relative to the photovoltaic panel surface can be adjusted, thereby adapting to photovoltaic modules with different installation angles and heights.

[0038] The cleaning mechanism 4 adopts a modular splicing structure, its main body consisting of multiple detachable and interconnected central splicing shells 18 and two end splicing shells 19. The cross-sections of both the central splicing shells 18 and the end splicing shells 19 are U-shaped grooves with downward openings to accommodate internal transmission and cleaning components. The two end splicing shells 19 are located at the two ends of the cleaning mechanism 4, with several central splicing shells 18 sequentially connected between them. The standard lateral length of a single central splicing shell 18 is set at 500 mm. In practical applications, operators can flexibly increase or decrease the number of central splicing shells 18 assembled according to the actual width of the photovoltaic panel to be cleaned. For example, for a photovoltaic panel with a width of 1850 mm, three central splicing shells 18 and two end splicing shells 19 can be combined for assembly, ensuring that the overall lateral span of the cleaning mechanism 4 precisely matches the photovoltaic panel of that size.

[0039] Each of the two ends of the lower surface of the intermediate splicing housing 18 is provided with a first suspension plate 38, which rotatably supports a cleaning roller 39 via rolling bearings. The cleaning roller 39 is preferably a nylon brush roller, whose bristles are flexible and have excellent wear resistance, effectively removing adhering contaminants while avoiding scratches on the photovoltaic glass cover. The two ends of the cleaning roller 39 are respectively constructed with a retainer 26 and a retainer 33, preferably using a splined pair or irregular cross-section fit to transmit a large rotational torque and achieve convenient assembly and disassembly. Specifically, the left end of the cleaning roller 39 is configured as the retainer 33, and the right end is configured as the retainer 26. When two adjacent intermediate splicing housings 18 are installed together, the retainer 26 at the right end of the left cleaning roller 39 is fitted onto the retainer 33 at the left end of the right cleaning roller 39, thereby achieving circumferential locking and synchronous rotation transmission between adjacent cleaning rollers 39.

[0040] A second suspension plate 25 is fixedly mounted on the side of the end splicing housing 19 adjacent to the middle splicing housing 18. A rotating shaft 41 is rotatably supported on the second suspension plate 25 via bearings. A rotary drive device 27 is fixedly mounted on the second suspension plate 25 of the left end splicing housing 19. This rotary drive device 27 is preferably a geared motor assembly, and its power output shaft is coaxially connected to the rotating shaft 41. A sleeve 26 is machined at the right end of the left rotating shaft 41, and a clamp 33 is machined at the left end of the right rotating shaft 41. When the cleaning mechanism 4 is assembled, the sleeve 26 of the left rotating shaft 41 is fitted outside the clamp 33 at the left end of the leftmost cleaning roller 39, and the clamp 33 of the right rotating shaft 41 is embedded inside the sleeve 26 at the right end of the rightmost cleaning roller 39, thus forming a complete torque transmission link. When the rotary drive device 27 is started, power is transmitted sequentially to all the series-connected cleaning rollers 39 via the rotating shaft 41, driving all the cleaning rollers 39 to rotate synchronously.

[0041] In one instance of this embodiment, please refer to Figure 5 , Figure 6 and Figure 7 A central support 21, arranged along the direction of travel, is provided at the middle section of the end splicing housing 19. Two sets of traveling wheels 22 are rotatably mounted on the front and rear sides of the central support 21 via bearings. The two sets of traveling wheels 22 contact the upper surfaces of the metal frames on the left and right sides of the photovoltaic panel and roll along them, providing stable support for the cleaning mechanism 4. A side support 23 is fixedly connected to the end of the end splicing housing 19 away from the center of the cleaning mechanism 4. Two sets of positioning wheels 24 are rotatably mounted on the side support 23 via bearings. The rims of the positioning wheels 24 abut against the side edges of the photovoltaic panel, serving as lateral guides and limits, preventing the cleaning mechanism 4 from lateral movement or derailment during travel.

[0042] In one instance of this embodiment, please refer to Figure 5 Fixing plates 28 are welded to both ends of the end splicing housing 19 facing the center of the cleaning mechanism 4 and both ends of the middle splicing housing 18. The fixing plates 28 have through holes for fasteners to pass through. Adjacent fixing plates 28 are fastened together by through-bolts 30 and locking nuts 29, thus rigidly connecting the splicing housings into one unit. To further enhance the protection level of the joint, elastic sealing gaskets can be added between adjacent fixing plates 28 to prevent external dust and liquid moisture from entering the housing.

[0043] In one instance of this embodiment, please refer to Figure 8 Each central splicing housing 18 is equipped with a scraper 40 on the side facing away from the cleaning direction. The scraper 40 is preferably made of weather-resistant rubber material and is fastened to the side edge of the central splicing housing 18 by bolts. Its bottom edge forms an interference contact with the light-receiving surface of the photovoltaic panel, and is used to physically scrape away stubborn stains and attachments remaining after the cleaning roller 39 has finished its work.

[0044] In one instance of this embodiment, please refer to Figure 4 , Figure 5 , Figure 6 , Figure 7 , Figure 8 and Figure 9 The cleaning mechanism 4 integrates a dust removal component 20 in its middle section, which creates a negative pressure zone on the side facing the cleaning direction to immediately suck up and collect the raised dust and scraped dirt. The dust removal component 20 includes an exhaust pipe 35 disposed on the upper surface of each middle splicing housing 18, extending laterally along the cleaning mechanism 4. Each middle splicing housing 18 has a laterally extending suction head 37 on the side facing the direction of travel, with the opening of the suction head 37 being a gradually widening trumpet shape to increase the suction range. The suction head 37 communicates with the internal flow channel of the exhaust pipe 35 through an exhaust bend 36. A connecting hose 32 is disposed at the far end (right end in the figure) of the exhaust pipe 35, and the connector of the connecting hose 32 can be inserted into the corresponding interface of the adjacent exhaust pipe 35 to achieve series connection between adjacent exhaust pipes 35. An air pipe plug 34 is installed on the surface of the end splicing housing 19 located on the side away from the ground to seal the opening of the connecting hose 32 at the end of the exhaust pipe 35 on that side. A negative pressure generating device 31 is fixedly mounted on the surface of the end splicing housing 19 near the ground. The negative pressure generating device 31 is preferably a centrifugal fan, and its air intake port is connected to the adjacent exhaust main pipe 35 through a connecting hose 32. When the negative pressure generating device 31 is operating, the airflow is drawn in from the suction head 37, carrying dust particles through the exhaust bend 36, the exhaust main pipe 35, and the connecting hose 32, and finally flows into the dust collection container attached to the negative pressure generating device 31, or is directly discharged to the lower left into the external environment.

[0045] In one instance of this embodiment, please refer to Figure 1 and Figure 3 A sliding rod 16 is vertically fixed to the far-ground surface of the end-joining housing 19. A fixed rod 12, oriented front-to-back, is fixedly connected to the upper end of the sliding rod 16. The free end of the suspension rope 5 is secured to the fixed rod 12. A floating slider 14 is slidably fitted onto the middle of the sliding rod 16, and a return spring 13 is fitted onto the outside of the sliding rod 16. The upper end of the return spring 13 abuts against the limiting shoulder of the fixed rod 12 or the sliding rod 16, and the lower end presses against the upper surface of the floating slider 14, thereby applying a return force to the floating slider 14 in the direction of the end-joining housing 19. A guide wheel 15 is rotatably connected to the side of the floating slider 14, and the suspension rope 5 passes through the groove of the guide wheel 15 before connecting to the fixed rod 12. When there are uneven undulations on the surface of the photovoltaic panel or sudden changes in the installation tilt angle, the floating slider 14 can slide adaptively along the sliding rod 16, and the effective working length of the suspension rope 5 can be changed in real time through the guide wheel 15, thereby automatically adjusting the suspension tension to ensure that the cleaning mechanism 4 always fits the surface of the photovoltaic panel in a flexible contact state, avoiding rigid impact.

[0046] In one instance of this embodiment, please refer to Figure 1 and Figure 3 An auxiliary lateral movement assembly 11 is also provided on the crossbeam of the traveling gantry 1 to force the cleaning mechanism 4 to maintain synchronous displacement with the traveling gantry 1 and suppress the possible swaying or lag of the cleaning mechanism 4 in the suspended state. The auxiliary lateral movement assembly 11 includes two parallel guide columns 10 fixed laterally, with sliding seats 9 slidably fitted on both sides of the guide columns 10. Guide blocks 8 are hinged to the front and rear sides of the sliding seats 9, and through holes are opened inside the guide blocks 8 to slide with the guide rod 7. One end of the guide rod 7 is connected to the surface of the end splicing housing 19 through the rotating seat 6 to form a rotating pair, and the other end is a free extension end. When the winding device 17 adjusts the height of the cleaning mechanism 4, the sliding seat 9 slides along the guide column 10, and the guide rod 7 sways at an angle accordingly. The sliding engagement between the guide block 8 and the guide rod 7 adapts to this position change. When the traveling gantry 1 moves, the driving force is transmitted to the cleaning mechanism 4 through the guide column 10, sliding seat 9, guide block 8 and guide rod 7, ensuring that the movement trajectory of the cleaning mechanism 4 is strictly synchronized with the movement trajectory of the traveling gantry 1, effectively avoiding the reciprocating swaying problem caused by relying solely on the suspension rope 5 for hoisting.

[0047] This embodiment includes the following steps during implementation:

[0048] 1. Equipment assembly and commissioning stage

[0049] Based on the measured width of the photovoltaic modules to be cleaned, determine the required number of central splicing housings 18 to be assembled. Arrange the selected central splicing housings 18 sequentially, ensuring that adjacent fixing plates 28 are in contact with each other. Then, insert locking bolts 30 into the through holes of the mating fixing plates 28 and tighten them with locking nuts 29. Connect the two end splicing housings 19 to the two ends of the central splicing housing 18 group, and secure them together in the same way using fixing plates 28, locking bolts 30, and locking nuts 29. During the housing splicing process, ensure that the clamp 33 of the previous cleaning roller 39 is correctly inserted into the clamp 26 of the next cleaning roller 39 to form a reliable torque transmission chain. Connect the exhaust main pipes 35 of the dust removal assembly 20 in series via connecting hoses 32, and seal the ends away from the ground with air pipe plugs 34. Then, suspend the assembled cleaning mechanism 4 below the traveling gantry 1 via suspension ropes 5.

[0050] 2. Equipment placement and installation steps

[0051] The traveling gantry 1, along with the cleaning mechanism 4, is moved to the position above and behind the photovoltaic panel to be cleaned using the traveling device 2. First, the right-side winding device 17 is activated, releasing the suspension rope 5, causing the right end of the cleaning mechanism 4 to tilt downwards. When the positioning wheel 24 at the right end of the cleaning mechanism 4 is at the same height and laterally aligned with the right side of the photovoltaic panel, the operation of the right-side winding device 17 is stopped. Then, the left-side winding device 17 is activated, and the left end of the cleaning mechanism 4 begins to descend. During this process, the positioning wheel 24 at the right end of the cleaning mechanism 4 remains in contact with the right side frame of the photovoltaic panel. When the left-side suspension rope 5 is slightly slack, the traveling wheel 22 at the bottom of the cleaning mechanism 4 has smoothly settled onto the metal frame of the photovoltaic panel, and under the action of gravity, the right-side positioning wheel 24 continues to press against the right side frame of the photovoltaic panel. At this point, a reverse fine-tuning is performed to activate both sides of the winding device 17, restoring the suspension ropes 5 to a moderately taut state. This tension is such that the positioning wheel 24 and the traveling wheel 22 do not detach from the surface of the photovoltaic panel. This measure prevents the slack suspension rope 5 from snagging on the photovoltaic panel or other components during movement, and also reduces the positive pressure of the traveling wheel 22 on the photovoltaic panel surface by utilizing the auxiliary suspension effect of the suspension rope 5, thus preventing the photovoltaic glass from breaking due to overload. Finally, the rotary drive device 27, the negative pressure generating device 31, and the traveling device 2 were test-run to confirm that each actuator was operating normally.

[0052] 3. Cleaning operation begins

[0053] Upon receiving the cleaning start command, the control system activates the walking device 2, driving the walking gantry 1 to move slowly and uniformly from the rear to the front along the length of the photovoltaic array. Simultaneously, the rotary drive device 27 starts, its output torque transmitted through the cascaded transmission of the rotating shaft 41, the ferrule 26, and the clamp 33, causing all the cleaning rollers 39 to rotate synchronously. The negative pressure generating device 31 also starts synchronously, creating a continuous negative pressure suction airflow at the suction head 37.

[0054] 4. Three-level collaborative cleaning process

[0055] First stage: Negative pressure dust collection pretreatment: The suction head 37, located at the front of the direction of travel, directly sucks in loose floating dust and light debris from the surface of the photovoltaic panel through its funnel-shaped opening, completing the first step of treatment for easily removable pollutants.

[0056] Second stage: Mechanical cleaning with roller brushes: The synchronously rotating cleaning rollers 39 contact the surface of the photovoltaic panels and generate relative friction, loosening and peeling off stubborn deposits such as dust, dirt, and bird droppings, which are then thrown forward and upward. Viewed from the left side of the equipment, the cleaning rollers 39 rotate counterclockwise, and the thrown dust is thrown precisely into the negative pressure suction area of ​​the suction head 37, where it is effectively captured and removed.

[0057] Third stage: Scraping of residue by scraper 40: As the cleaning mechanism 4 continues to move forward, the scraper 40 located on the rear side comes into close contact with the surface of the photovoltaic panel, and finally scrapes away the stubborn stains and residual dust particles that the cleaning roller 39 failed to completely remove, ensuring that the light-receiving surface of the photovoltaic panel meets the cleanliness requirements.

[0058] 5. Synchronous movement and adaptive height adjustment

[0059] As the traveling gantry 1 moves the cleaning mechanism 4 forward, the auxiliary lateral movement component 11 intervenes. The driving force of the traveling gantry 1 is transmitted through the linkage of the guide column 10, sliding seat 9, guide block 8, and guide rod 7, forcing the cleaning mechanism 4 to maintain strict synchronous displacement with the traveling gantry 1, ensuring the straightness of the cleaning trajectory. When encountering gradual changes in the installation height of photovoltaic panels or local undulations due to crossing the joints of adjacent photovoltaic panel frames on the travel path, the floating slider 14 automatically slides along the sliding rod 16 under the constraint of the return spring 13. The effective length and tension of the suspension rope 5 are adjusted in real time through the guide wheel 15, enabling the cleaning mechanism 4 to autonomously adapt to the unevenness of the panel surface.

[0060] 6. Completion and transfer of cleaning work

[0061] When the traveling gantry 1 moves to the front limit position of the photovoltaic array, the cleaning operation of that row of photovoltaic modules is completed. The cleaning mechanism 4 lifts up and detaches from the photovoltaic panels. The equipment can automatically return to the starting position along the original path according to the preset program, or move laterally to the next adjacent row of photovoltaic arrays to continue the cleaning task. When the dust accumulated in the dust collection container attached to the negative pressure generating device 31 reaches the preset capacity threshold, the equipment will issue an audible and visual alarm to notify the maintenance personnel to perform timely dust cleaning and maintenance.

[0062] 7. Equipment maintenance and storage

[0063] After all cleaning work is completed, the cleaning mechanism 4 is raised to a safe height using the rewind device 17, and then the power supply to the equipment is cut off. Regularly check the wear of the bristles on the cleaning roller 39, the integrity of the rubber lips on the scraper 40, and the rolling condition of the traveling wheels 22 and positioning wheels 24; replace any parts that have reached their wear limit. Regularly clean the dust collection container and filter elements of the negative pressure generating device 31 to maintain the suction efficiency of the dust removal assembly 20. If the equipment needs to be stored for a long period, the cleaning mechanism 4 can be disassembled into modular housing units and stored in a dry, well-ventilated indoor environment.

[0064] This invention provides a photovoltaic cleaning robot. Through a modular combination of a freely adjustable central splicing shell 18 and end splicing shells 19, the sweeping mechanism 4 achieves flexible adjustment of its span, precisely adapting to photovoltaic modules of different specifications, effectively reducing equipment manufacturing costs and recurring purchase expenses. An independent winding device 17, working in conjunction with a floating guide mechanism, enables convenient adjustment of the sweeping mechanism 4 in height and angle, and allows for adaptive tensioning based on surface undulations, preventing rigid impact damage to the photovoltaic glass. The design of multiple sweeping rollers 39 connected in series for synchronous drive and an auxiliary lateral movement component 11 ensures strict synchronization between the sweeping trajectory and the traveling gantry 1, eliminating suspension sway. Simultaneously, it integrates negative pressure suction, roller brush sweeping, and scraper 40 for three-stage combined operation, resulting in high cleaning efficiency and no secondary dust generation. The overall structure is reliable, and the modular design facilitates easy assembly and disassembly, significantly reducing maintenance costs and safety risks.

[0065] It will be apparent to those skilled in the art that the present invention is not limited to the details of the exemplary embodiments described above, and that the invention can be implemented in other specific forms without departing from the spirit or essential characteristics of the invention. Therefore, the embodiments should be considered in all respects as exemplary and non-limiting, and the scope of the invention is defined by the appended claims rather than the foregoing description. Thus, it is intended that all variations falling within the meaning and scope of equivalents of the claims be included within the present invention.

Claims

1. A photovoltaic cleaning robot, comprising a walking gantry, wherein a walking device for ground walking is provided at the near-ground end of the walking gantry, characterized in that, It also includes cleaning mechanisms and suspension mechanisms; The suspension mechanism includes adjustable suspension ropes installed at both ends of the traveling gantry, with the free end of the suspension rope connected to the end of the sweeping mechanism. The cleaning mechanism includes multiple detachable central splicing shells. The outermost central splicing shell is detachably connected to an end splicing shell. Both ends of the central splicing shell are provided with first suspension plates. The first suspension plates are rotatably connected to a cleaning roller. The end splicing shell is provided with a second suspension plate on the side adjacent to the central splicing shell. The second suspension plate is provided with a rotating shaft that rotates synchronously with the cleaning roller.

2. The photovoltaic cleaning robot according to claim 1, characterized in that, The cleaning roller has a sleeve and a clamp at both ends, and a rotary drive device is provided on one of the second suspension plates. The output shaft of the rotary drive device is connected to the rotary shaft. A sleeve is provided at the end of the rotary shaft adjacent to the clamp on the cleaning roller, and a clamp is provided at the end of the rotary shaft adjacent to the sleeve on the cleaning roller.

3. The photovoltaic cleaning robot according to claim 1, characterized in that, The end splicing shell has a central support in the middle, and a traveling wheel that rolls along the surface of the photovoltaic panel is rotatably connected to the central support. The end of the end splicing shell away from the central splicing shell has a side support, and a positioning wheel that rolls along the side of the photovoltaic panel is rotatably connected to the side support.

4. The photovoltaic cleaning robot according to claim 1, characterized in that, The end of the end splicing shell near the center of the cleaning mechanism and both ends of the middle splicing shell are provided with fixing plates. The two adjacent fixing plates are locked and fixed by through locking bolts and locking nuts.

5. A photovoltaic cleaning robot according to claim 1, characterized in that, The central splicing shell is provided with a scraper that slides along the surface of the photovoltaic panel on the side opposite to the direction of cleaning. The central part of the cleaning mechanism is provided with a dust removal component for generating negative pressure on the side of the direction of travel.

6. A photovoltaic cleaning robot according to claim 5, characterized in that, The dust removal assembly includes an exhaust main pipe disposed on the surface of the central splicing shell. The central splicing shell is provided with a suction head on the side of the cleaning direction. The suction head is connected to the exhaust main pipe through an exhaust bend. The far end of the exhaust main pipe is provided with a connecting hose. The surface of the end splicing shell on the side away from the ground is provided with an air pipe plug for sealing the connecting hose. The surface of the end splicing shell on the side near the ground is provided with a negative pressure generating device. The suction end of the negative pressure generating device is provided with a connecting hose.

7. A photovoltaic cleaning robot according to claim 1, characterized in that, The end of the traveling gantry is provided with a winding device for adjusting the length of the suspension rope, and the traveling gantry is also provided with an auxiliary lateral movement component that drives the sweeping mechanism to move synchronously with the traveling gantry.

8. A photovoltaic cleaning robot according to claim 7, characterized in that, The auxiliary lateral movement assembly includes a rotating seat disposed on the surface of the end splicing housing, the end of a guide rod being rotatably connected to the rotating seat, a guide column being provided on the traveling gantry, sliding seats being slidably connected to both sides of the guide column, and a guide block being rotatably connected to the end of the sliding seat and slidingly engaging with the guide rod.

9. A photovoltaic cleaning robot according to claim 7, characterized in that, A sliding rod is provided on the far side of the end splicing shell. A fixed rod is provided at the end of the sliding rod and connected to the free end of the suspension rope. A floating slider is slidably connected in the middle of the sliding rod. A return spring is sleeved on the outside of the sliding rod to drive the floating slider to return to the end splicing shell. A guide wheel that cooperates with the suspension rope is rotatably connected to the side of the floating slider.

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